关键词：机器人;控制;合作;动力学;非线性系统
摘 要：This report lists all the research results that have been achieved during the funding period for robot trajectory planning problems and testbed: (i) research goals and milestones, (ii) hardware/software design, integration, and validation, (iii) bio-inspired trajectory planning algorithm, (iv) robot localization and obstacle detection, (v) simulation validation and hardware demonstration. All the research objectives have been accomplished.