Contact planning for acyclic motion with task constraints and experiment on HRP-2 humanoid.

Adrien Escande Abderrahmane Kheddar

Published in: IROS (2009)

Keyphrases

humanoid robot
motion planning
multi modal
motion patterns
motion capture
human motion
collision free
np hard
physical constraints
planning problems
np complete
degrees of freedom
constraint programming
global constraints
image sequences
geometrical constraints
temporal continuity