Humanoid motion planning for dynamic tasks

  title={Humanoid motion planning for dynamic tasks},
  author={Eiichi Yoshida and Igor R. Belousov and Claudia Esteves and Jean-Paul Laumond},
  journal={5th IEEE-RAS International Conference on Humanoid Robots, 2005.},
This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kinematic motion planner first computes collision-free paths for the humanoid robot. Then the dynamic pattern generator provides dynamically feasible humanoid motion including both locomotion and task… CONTINUE READING
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