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NTIS 바로가기로봇학회논문지 = The journal of Korea Robotics Society, v.17 no.3, 2022년, pp.359 - 364
김선홍 (Department of Electrical and Electronic Engineering, Hanyang University) , 사샤 아제이 (Mechatronics, Robotics, and Automation Engineering, KU Leuven) , 스웨버스 얀 (Mechanical Engineering, KU Leuven) , 최영진 (Department of Electrical and Electronic Engineering, Hanyang University ERICA)
This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) se...
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