Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots.
Kuan-Lun LuI-Chia ChangWei-Shun YuPei-Chun LinPublished in: ICRA (2024)
Keyphrases
- artificial neural networks
- optimization strategy
- legged robots
- joint angles
- position and orientation
- optimization algorithm
- human body
- inverse kinematics
- degrees of freedom
- improved algorithm
- motion capture
- image sequences
- mobile robot
- human motion
- particle swarm
- inverted pendulum
- end effector
- contact force
- motion planning
- three dimensional
- dynamical systems
- multi objective
- robot arm
- robot manipulators
- optical flow
- moving objects
- dynamic model
- initial conditions
- least squares
- objective function
- computer vision