Asymptotically optimal kinematic design of robots using motion planning
Abstract In highly constrained settings, e.g., a tentacle-like medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all desirable targets while avoiding obst...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer US
2021
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| Online Access: | https://hdl.handle.net/1721.1/131532 |