Decentralized planning for dynamic motion generation of multi-link robotic systems

Abstract

This paper presents a decentralized planning method for generating dynamic whole body motions of multilink robots including humanoids. First, a robotic system will be modeled as a general multi-body dynamical system. The planning problem of a multi-body system will then be formulated as a constraint resolution problem. The problem will be solved by means of… (More)
DOI: 10.1109/IROS.2009.5354206

Topics

6 Figures and Tables

Cite this paper

@article{Tazaki2009DecentralizedPF, title={Decentralized planning for dynamic motion generation of multi-link robotic systems}, author={Yuichi Tazaki and Hisashi Sugiura and Herbert Janssen and Christian Goerick}, journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2009}, pages={1582-1587} }