— Motion planning for robots with many degrees of freedom (DoF) is a generally unsolved problem in the robotics context. In this work an approach for trajectory planning is prese...
Niko Vahrenkamp, Christian Scheurer, Tamim Asfour,...
Humanoid robot is expected as a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, l...
Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double suppo...
— This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has ...
We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of t...
James J. Kuffner Jr., Satoshi Kagami, Koichi Nishi...