Resolved momentum control: humanoid motion planning based on the linear and angular momentum.
Shuuji KajitaFumio KanehiroKenji KanekoKiyoshi FujiwaraKensuke HaradaKazuhito YokoiHirohisa HirukawaPublished in: IROS (2003)
Keyphrases
- motion planning
- robotic arm
- humanoid robot
- degrees of freedom
- mechanical systems
- learning rate
- path planning
- robot arm
- trajectory planning
- mobile robot
- autonomous mobile robot
- robotic tasks
- kinematic model
- obstacle avoidance
- manipulation tasks
- collision free
- control law
- inverse kinematics
- end effector
- multi robot
- spatio temporal
- climbing robot
- process control
- viewpoint
- belief space
- potential field
- configuration space
- robot control
- multi modal
- control system