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AROBOTS
2002
98views more  AROBOTS 2002»
10 years 10 months ago
Dynamically-Stable Motion Planning for Humanoid Robots
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...
IROS
2009
IEEE
116views Robotics» more  IROS 2009»
11 years 5 months ago
Stable whole-body motion generation for humanoid robots to imitate human motions
—This work presents a methodology to generate dynamically stable whole-body motions for a humanoid robot, which are converted from human motion capture data. The methodology cons...
Seungsu Kim, ChangHwan Kim, Bum-Jae You, Sangrok O...
ICRA
2009
IEEE
127views Robotics» more  ICRA 2009»
11 years 5 months ago
Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
Umashankar Nagarajan, George Kantor, Ralph L. Holl...
IJHR
2008
155views more  IJHR 2008»
10 years 10 months ago
The Challenge of Motion Planning for Soccer Playing Humanoid Robots
Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double suppo...
Stefano Carpin, Marcelo Kallmann, Enrico Pagello
IROS
2007
IEEE
125views Robotics» more  IROS 2007»
11 years 4 months ago
An optimal planning of falling motions of a humanoid robot
— 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 ...
Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, K...
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