Smooth joint trajectory planning for humanoid robots based on B-splines.
Wenxiang WuShiqiang ZhuSongguo LiuPublished in: ROBIO (2009)
Keyphrases
- trajectory planning
- motion planning
- b spline
- humanoid robot
- degrees of freedom
- control points
- mobile robot
- multi modal
- basis functions
- least squares
- tensor product
- obstacle avoidance
- path planning
- curve fitting
- human robot interaction
- free form deformation
- human motion
- motor skills
- piecewise polynomial
- deep brain stimulation
- neural network
- deformation field
- multi robot
- dynamic environments
- spatio temporal