— This paper presents a decentralized planning method for generating dynamic whole body motions of multilink robots including humanoids. First, a robotic system will be modeled a...
Yuichi Tazaki, Hisashi Sugiura, Herbert Janssen, C...
Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a "pivoting" manipulation method that allows the humanoid to disp...
— Reaching is a critical task for humanoid robots, requiring the application of state-of-the-art algorithms for motion planning and inverse kinematics. Practical algorithms for s...
— In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion...