Abstract— Tomorrow’s humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions will be critical design fa...
— This paper presents a multi-skill motion planner which is able to sequentially synchronize parameterized motion skills in order to achieve humanoid motions exhibiting complex w...
— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...