Generating a Key Pose Sequence Based on Kinematics and Statics Optimization for Manipulating a Heavy Object by a Humanoid Robot.
Riku ShigematsuMasaki MurookaYohei KakiuchiKei OkadaMasayuki InabaPublished in: IROS (2019)
Keyphrases
- humanoid robot
- d objects
- joint space
- motion planning
- biologically inspired
- motion capture
- head movements
- multi modal
- joint angles
- human robot interaction
- partial occlusion
- object representation
- pose estimation
- human robot
- inverse kinematics
- walking speed
- articulated objects
- fully autonomous
- position and orientation
- moving objects
- object tracking
- pattern generator
- imitation learning
- motion trajectories
- focus of attention
- vision system