197 search results - page 7 / 40 » Manipulability Optimization for Trajectory Generation |
ENGL
2008
13 years 7 months ago
2008
A population based real-time optimization method for tuning dynamic position control parameters of robot manipulators has been proposed. Conventionally, the positional control is a...
ICRA
2010
IEEE
13 years 6 months ago
2010
IEEE
Abstract— Humanoid robots are appealing due to their inherent dexterity. However, these potential benefits may only be realized if the corresponding motion synthesis procedure i...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain u...
IROS
2009
IEEE
14 years 2 months ago
2009
IEEE
— Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the cen...
SIGGRAPH
1994
ACM
13 years 11 months ago
1994
ACM
We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms toma...