A Momentum Recurrent Neural Network for Sparse Motion Planning of Redundant Manipulators With Majorization-Minimization
Authors: Haoen Huang, Long Jin, Zhigang Zeng
Abstract:
Redundant manipulators possess more degrees of freedom than are strictly required to accomplish an end-effector task. This redundancy gives them flexibility for avoiding obstacles, respecting physical constraints, and optimizing secondary objectives. However, it also makes real-time motion planning computationally …