IEEE - Institute of Electrical and Electronics Engineers, Inc. - Semi-Autonomous Robot Teleoperation With Obstacle Avoidance via Model Predictive Control

Author(s): Matteo Rubagotti ; Tasbolat Taunyazov ; Bukeikhan Omarali ; Almas Shintemirov
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,746 - 2,753
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2917707
Regular:

This letter proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting... View More

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