Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach.
Sébastien DalibardAntonio El KhouryFlorent LamirauxAlireza NakhaeiMichel TaïxJean-Paul LaumondPublished in: Int. J. Robotics Res. (2013)
Keyphrases
- humanoid robot
- motion planning
- biologically inspired
- multi modal
- trajectory planning
- collision free
- human robot interaction
- walking speed
- robot arm
- mechanical systems
- dynamic environments
- robotic tasks
- autonomous mobile robot
- robotic arm
- manipulation tasks
- inverse kinematics
- belief space
- motion capture
- body movements
- motor control
- configuration space
- real time
- obstacle avoidance
- control law
- human motion
- viewpoint
- reinforcement learning