Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph.
Shunichi NozawaMasaki MurookaShintaro NodaYohei KakiuchiKei OkadaMasayuki InabaPublished in: Humanoids (2013)
Keyphrases
- humanoid robot
- legged locomotion
- manipulation tasks
- rough terrain
- motion planning
- biologically inspired
- multi modal
- robot motion
- human robot
- motion capture
- fully autonomous
- walking speed
- initial state
- motor skills
- degrees of freedom
- human robot interaction
- robot navigation
- plan execution
- motor control
- robotic systems
- imitation learning
- joint space
- real time