Optimal whole body motion planning of humanoid with articulated spine for object manipulation in double support phase
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"Optimal whole body motion planning ..." refers background in this paper
...Note that such inverse and forward kinematics mapping are well studied in robotics literature [17], and hence, not reported here for brevity....
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2,210 citations
"Optimal whole body motion planning ..." refers background or methods in this paper
...RRT* [8] algorithm is another variant of RRT that is proven to lead to asymptotically optimal paths as number of iterations increases....
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...In this section the generic RRT* algorithm as proposed in [8] is presented in our notation for better understanding of the proposed implementation, then it is extended for motion planning of humanoid....
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...As the number of iterations are increased, it can be seen that the average path cost is reduced, which is the expected result as RRT* is proven to be asymptotically optimal in [8]....
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...The use of RRT* for whole-body motion planning of a humanoid robot with articulated spine in double support phase is not a trivial extension of [8], and poses some obvious challenges as mentioned earlier....
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