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A new ZMP constraint equation with application to motion planning of humanoid using kinematic redundancy.
Byung Rok So
Je Youn Choi
Byung-Ju Yi
Whee Kuk Kim
Published in:
IROS (2005)
Keyphrases
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motion planning
degrees of freedom
humanoid robot
inverse kinematics
trajectory planning
mobile robot
path planning
robot arm
configuration space
control law
robotic arm
computational complexity
dynamic programming
pose estimation
multi robot
collision free