Determining the optimal multiarticular muscle arrangement of a musculoskeletal robot for a specific motion using dynamics simulation.
Tadashi AsaokaMasaki KawamuraShouhei KumakuraIkuo MizuuchiPublished in: Humanoids (2012)
Keyphrases
- humanoid robot
- motion control
- motion planning
- inverse kinematics
- experimental platform
- real robot
- image sequences
- desired trajectory
- position and orientation
- mathematical model
- optical flow
- autonomous navigation
- simulated robot
- physical constraints
- vision system
- dynamic programming
- human robot interaction
- mobile robot
- motion estimation
- control method
- dynamical model
- control signals
- motion analysis
- joint angles
- monocular vision
- sagittal plane
- end effector
- optimal solution
- swarm robots
- motion capture
- dynamical systems
- path planning
- configuration space
- human motion
- kinematic model
- space time
- parallel robot
- computer vision
- hand eye calibration
- closed loop
- simulation model
- robot motion
- dynamic model
- moving objects
- multi robot
- autonomous robots
- real environment