Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics.
Yuya HakamataSatoki TsuichiharaGustavo Alfonso Garcia RicardezJun TakamatsuTsukasa OgasawaraPublished in: Adv. Robotics (2020)
Keyphrases
- humanoid robot
- motion planning
- inverse kinematics
- end effector
- robot arm
- robot manipulators
- multi modal
- robot motion
- motor control
- joint angles
- motion capture
- motor skills
- mobile robot
- path planning
- control law
- control system
- configuration space
- degrees of freedom
- position and orientation
- body movements
- dynamic model
- walking speed
- optimal control
- robotic systems
- closed loop
- object recognition