Whole-Body Motion Generation Integrating Operator's Intention and Robot's Autonomy in Controlling Humanoid Robots


This paper introduces a framework for whole-body motion generation integrating operator's control and robot's autonomous functions during online control of humanoid robots. Humanoid robots are biped machines that usually possess multiple degrees of freedom (DOF). The complexity of their structure and the difficulty in maintaining postural stability make the… (More)
DOI: 10.1109/TRO.2007.903818


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