Hand-centered whole-body motion control for a humanoid robot

  title={Hand-centered whole-body motion control for a humanoid robot},
  author={Yasutaka Fukumoto and Koichi Nishiwaki and Masayuki Inaba and Hirochika Inoue},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={1186-1191 vol.2}
In this paper we present "hand-centered" motion generation and control of whole-body motion for a humanoid robot, which enable the robot to carry out reaching and walking simultaneously. Hand-centered whole-body motion control is defined as a real-time control scheme in which the hand motion (input) leads to the whole-body motion (output). The hand trajectory is described in the absolute coordinate system (world frame) and the torso trajectory follows the hand trajectory. This method enables… CONTINUE READING

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