Achievement of dynamic tennis swing motion by offline motion planning and online trajectory modification based on optimization with a humanoid robot.
Ryo TerasawaShintaro NodaKunio KojimaRyo KoyamaFumihito SugaiShunichi NozawaYohei KakiuchiKei OkadaMasayuki InabaPublished in: Humanoids (2016)
Keyphrases
- humanoid robot
- motion primitives
- motion planning
- walking speed
- collision free
- trajectory planning
- biologically inspired
- multi modal
- robot arm
- human motion
- human robot interaction
- motion capture
- robotic tasks
- inverse kinematics
- robotic arm
- real time
- configuration space
- dynamic environments
- mechanical systems
- joint space
- kinematic model
- rough terrain
- real robot
- body movements
- viewpoint
- control law
- degrees of freedom
- manipulation tasks
- robot motion
- mobile robot
- image sequences