Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot.
Shintaro NodaMasaki MurookaShunichi NozawaYohei KakiuchiKei OkadaMasayuki InabaPublished in: ICRA (2014)
Keyphrases
- humanoid robot
- contact force
- motion planning
- force control
- master slave
- joint space
- multi modal
- motion capture
- finite element analysis
- pattern generator
- human motion
- finite element model
- real robot
- robot arm
- force feedback
- body movements
- walking speed
- head movements
- finite element
- real time
- spatio temporal
- computer vision