This thesis focuses on design and motion planning of spatial hyper-redundant robot, which is meaningful to both academic and engineering application.
本学位论文对空间超冗余度机器人的设计及空间运动轨迹规划开展研究，具有重要科学意义和应用价值。
The architecture consists of the robot's body control level and the base driving level which are respectively responsible for the motion planning and driving control.
该系统包括机身控制层和底层驱动层，分别负责机器人的运动规划与驱动控制。
Topics include planar and spatial kinematics, and motion planning;
主题包含平面及空间运动学、动作规划；
The control of system can be converted to the motion planning problem for a driftless system.
系统的控制问题可转化为无漂移系统的非完整运动规划问题。
This paper takes volleyball task as an example to explore motion planning of hybrid control problem.
针对混合型控制问题，以排球任务为例研究机器人的运动规划。
In the present study, we mainly focused on the research of motion planning of humanoid soccer robot.
本文主要对仿人足球机器人运动规划方法进行了研究。
Fault tolerant motion planning of two coordinating manipulators for locked joint failures is studied.
针对两机械臂协调操作中发生关节坏死这类故障时的容错运动规划问题进行研究。
An approach based on autonomous behavior agent of lunar rover motion planning and controlling is presented.
研究基于自主行为智能体的月球车运动规划与控制方法。
Based on the control sequences from the motion planning, the motion control of the spherical robot can be realized.
基于运动规划得出的控制输入，就可以实现球形机器人的运动控制。
The problems of motion planning for wheel typed mobile manipulator that accepted a non-holonomic constraint was studied.
研究了受非完整约束的轮式移动操作机运动规划问题。
Coordinaion level controller is designed to fulfill collision-free motion planning and real time coupling estimation among subsystems.
协调级控制器实现无碰运动的规划和各子系统之间耦合的实时估计。
An optimal motion planning scheme for a three-link planar under-actuated manipulator moving between two stationary states was considered.
研究了在两固定端点之间运动的三连杆平面欠驱动机械臂的最优运动规划问题。
The hardware and software of this system can drive effectively the mobile robot to track its preconcerted path and finish motion planning.
该系统的硬件和软件能够有效快速驱动移动机器人跟踪预定的路径以及完成运动规划。
For solving the problems of coordinated control of mobile manipulator, this paper presents the motion planning of a wheeled mobile manipulator.
为了解决移动机械手协调控制问题，研究了轮式移动机械手的运动规划方法。
To solve the problem of the motion planning, a kind of improved artificial potential field method applied in the dynamic environment is proposed.
对于运动规划层，提出了一种用于动态环境下的改进的人工势场法。
Hence the uncertainties of the dynamic parameters of the target may bring fatal accidents to the motion planning for space robot during target capture.
在执行目标捕获任务时，目标动力学参数的不精确会给空间机器人的规划带来致命的影响。
Firstly a formal description of the problem is proposed, and then the problem is transformed into one kind of equivalent form about polygon motion planning.
给出了此问题的形式化描述，并将问题归约为一种关于多边形运动规划的等价形式。
This paper presents a sensor-based intelligent robot motion planning using fuzzy rules for the idea of artifical potential fields based on analytic harmonic functions.
提出了一种基于传感器和模糊规则的智能机器人运动规划方法，该方法运用了基于调和函数分析的人工势能场原理。
Introduce the problems of uncertainty in assembly or motion of tight tolerance, the importance of compliant motion, fine motion planning, and compliant motion planning.
介绍在装配或运动公差中的不确定性问题，介绍顺应运动、精细运动规划和顺应运动规划的重要性。
Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems.
针对空间机器人系统，研究了欠驱动冗余度机械臂的“非完整冗余”特征和无碰撞路径最优运动规划方法。
Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (Zero Moment Point) has been discussed in detail.
论文重点讨论了动态步行的算法设计和仿真，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。
This paper makes an investigation to the mobile manipulator, including the united differential kinematics model, motion planning and artificial intelligence control of the mobile manipulator.
本文对移动机械手进行了比较深入的研究，主要包括移动机械手的运动学统一模型的建立、移动机械手的轨迹规划以及移动机械手的智能控制。
To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments, an artificial coordinating field (ACF) is proposed.
为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷，提出人工协调场法(acf)。
Motion planning of multiple robots is becoming a hot topic in robot field in recent years.
近年来，多机器人运动规划问题渐渐成为机器人学中研究的热点问题。
Motion planning of flexible robot manipulators is an advanced topic in the field of robotics.
柔性机器人的末端运动规划是机器人领域的重要前沿课题之一。
Motion planning is the key of animation generation, for all action data are provided by this module.
运动规划是底层动画实现的关键，所有的运动数据信息都要通过该模块生成。
Motion planning is the key of animation generation, for all action data are provided by this module.
运动规划是底层动画实现的关键，所有的运动数据信息都要通过该模块生成。
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