Cost Functions to Specify Full-Body Motion and Multi-Goal Manipulation Tasks.
Philipp RuppelNorman HendrichSebastian StarkeJianwei ZhangPublished in: ICRA (2018)
Keyphrases
- manipulation tasks
- cost function
- motion planning
- humanoid robot
- end effector
- inverse kinematics
- motion model
- human motion
- optical flow
- robot navigation
- image sequences
- human body
- robot arm
- robotic arm
- impedance control
- degrees of freedom
- human robot interaction
- motion estimation
- mobile robot
- collision free
- object manipulation
- camera motion
- real robot
- control system