Load Distributed Whole-body Motion Generation Method for Humanoids by Minimizing Average Joint Torque Ratio

@inproceedings{Adachi2006LoadDW,
  title={Load Distributed Whole-body Motion Generation Method for Humanoids by Minimizing Average Joint Torque Ratio},
  author={Ryusuke Adachi and Shigeru Kanzaki and Kei Okada and Masayuki Inaba},
  booktitle={IAS},
  year={2006}
}
In this paper, we propose a load distributed whole-body motion generation method for a humanoid robot whose limbs are constrained to environments. To minimize a load over the posture sequence, rst, we optimize each key frame posture by searching neighboring postures by using a load evaluation functions. Then, we determine parameters of the whole-body… CONTINUE READING