Generation of humanoid robot motions with physical constraints using hierarchical B-spline.
Miti RuchanurucksShinichiro NakaokaShunsuke KudohKatsushi IkeuchiPublished in: IROS (2005)
Keyphrases
- b spline
- humanoid robot
- physical constraints
- walking speed
- human motion
- body movements
- motion planning
- control points
- basis functions
- tensor product
- least squares
- multi modal
- affine transformation
- motion capture
- human robot interaction
- fully autonomous
- curve fitting
- sensory feedback
- video sequences
- image sequences
- human body
- contour extraction
- free form deformation
- imitation learning
- joint space
- pattern generator
- deformation field
- coarse to fine
- optical flow
- cubic b spline
- scalar field
- learning algorithm
- machine learning