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2009
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Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion

11 years 6 months ago
Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion
Abstract— Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motion re-planning based on an off-line computation of a feasible sub-set of the motion parameters, using Interval Analysis.
Sebastien Lengagne, Philippe Fraisse, Nacim Ramdan
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Sebastien Lengagne, Philippe Fraisse, Nacim Ramdani
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