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Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle
http://hdl.handle.net/20.500.12678/0000006931
http://hdl.handle.net/20.500.12678/00000069310e9c0970-0e63-4059-a3e9-c00390e1a4eb
4efa3944-0af2-4541-9a1a-499942b852b9
Name / File | License | Actions |
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Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle.pdf (1.5 MB)
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Journal article | ||||||
Upload type | ||||||
Publication | ||||||
Title | ||||||
Title | Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle | |||||
Language | en | |||||
Publication date | 2020-06-11 | |||||
Authors | ||||||
Aye Aye Thant | ||||||
Description | ||||||
The main contribution of this paper is generating robot path planning for overcoming an obstacle from mathematical point of view. The interpolation method applied for this goal is Newton’s divided difference interpolation. Firstly, the kinematic constraints are formulated with adjusting the obstacle constraints. Then path planning for overcoming obstacle of biped robot is generated by using the propose interpolation method. Matlab figures are used to verify the numerical resulting polynomials. Demonstration results show good performance of the propose method, where the biped can overcome an 15 × 10 inch obstacle in the sagittal plane without colliding with it. |
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Keywords | ||||||
Newton’s divided difference interpolation, Obstacle, Overcoming, Robot Path Planning | ||||||
Journal articles | ||||||
No.2 | ||||||
Engineering Technology and Science Journal, tukly | ||||||
224-229 | ||||||
Vol.2 |