Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach.
Mitsuharu MorisawaKenji KanekoFumio KanehiroShuuji KajitaKiyoshi FujiwaraKensuke HaradaHirohisa HirukawaPublished in: IROS (2006)
Keyphrases
- humanoid robot
- motion planning
- state space
- belief space
- multi modal
- trajectory planning
- biologically inspired
- robot arm
- heuristic search
- reinforcement learning
- dynamic programming
- human robot interaction
- state variables
- robotic arm
- obstacle avoidance
- motion capture
- planning problems
- inverse kinematics
- manipulation tasks
- configuration space
- search space
- markov decision processes
- dynamical systems
- mechanical systems
- belief state
- emergency response
- body movements
- optimal policy
- collision free
- particle filter
- robotic tasks
- partially observable
- initial state
- control law
- human motion
- pose estimation