Inverse kinematics with floating base and constraints for full body humanoid robot control.
Michael N. MistryJun NakanishiGordon ChengStefan SchaalPublished in: Humanoids (2008)
Keyphrases
- robot control
- inverse kinematics
- motion planning
- mobile robot
- robot arm
- autonomous robots
- robot manipulators
- subsumption architecture
- joint angles
- end effector
- position and orientation
- human body
- reinforcement learning
- pid controller
- degrees of freedom
- humanoid robot
- multi robot
- visual servoing
- evolutionary algorithm
- learning algorithm