Dynamics simulation of humanoid robots with position-controlled joints and closed kinematic chains.
Katsu YamaneYoshihiko NakamuraKou YamamotoPublished in: IROS (2008)
Keyphrases
- humanoid robot
- joint angles
- degrees of freedom
- motion planning
- motion capture
- joint space
- inverse kinematics
- end effector
- human motion
- human arm
- human body
- multi modal
- parallel robot
- multi agent simulation
- kinematic model
- human robot interaction
- real robot
- viewpoint
- biologically inspired
- dynamic model
- mobile robot
- trajectory planning
- manipulation tasks
- physical constraints
- path planning
- robotic arm
- feature space
- motor skills
- vision system
- d objects
- configuration space
- fully autonomous
- control system
- position and orientation