Modeling Robot Geometries Like Molecules, Application to Fast Multicontact Posture Planning for Humanoids

Abstract

Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not the fastest when used in planning optimizations. In this letter, inspired by Cartesian coordinates used… (More)
DOI: 10.1109/LRA.2017.2739103

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