Fast Tennis Swing Motion by Ball Trajectory Prediction and Joint Trajectory Modification in Standalone Humanoid Robot Real-time System.
Mirai HattoriKunio KojimaShintaro NodaFumihito SugaiYohei KakiuchiKei OkadaMasayuki InabaPublished in: IROS (2020)
Keyphrases
- humanoid robot
- motion planning
- trajectory planning
- robot motion
- real time
- biologically inspired
- walking speed
- motion patterns
- motion primitives
- multi modal
- kinematic model
- joint space
- collision free
- configuration space
- human robot interaction
- motion trajectories
- motion capture
- human motion
- vision system
- trajectory data
- pattern generator
- fully autonomous
- space time
- body movements
- computer vision
- robot arm
- video data
- motion estimation
- human robot
- manipulation tasks
- feedback loop
- imitation learning
- real robot
- control system
- optical flow
- angular velocity
- image sequences