Optimal whole body motion planning of humanoid with articulated spine for object manipulation in double support phase.
Hari Teja KalidindiFrancis JamesSuril Vijaykumar ShahPublished in: AIR (2015)
Keyphrases
- robot control
- motion planning
- object manipulation
- mobile robot
- humanoid robot
- path planning
- trajectory planning
- degrees of freedom
- autonomous robots
- robot arm
- collision free
- multi robot
- obstacle avoidance
- robotic systems
- dynamic environments
- robotic arm
- inverse kinematics
- manipulation tasks
- multi modal
- mechanical systems
- robotic tasks
- control law
- human body
- motion capture
- three dimensional
- optimal control
- object recognition
- real time