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IROS
2009
IEEE

Decentralized planning for dynamic motion generation of multi-link robotic systems

11 years 6 months ago
Decentralized planning for dynamic motion generation of multi-link robotic systems
— 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 as a general multi-body dynamical system. The planning problem of a multi-body system will then be formulated as a constraint resolution problem. The problem will be solved by means of an extended Gauss-Seidel method, which is capable of handling multiple constraint groups with different priorities. The method will be demonstrated in whole-body motion generation tasks of a humanoid, both in numerical simulations and in experiments using a real humanoid robot.
Yuichi Tazaki, Hisashi Sugiura, Herbert Janssen, C
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Yuichi Tazaki, Hisashi Sugiura, Herbert Janssen, Christian Goerick
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