A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints
2013
IEEE Transactions on robotics
The most widely-used technique to generate wholebody motions on a humanoid robot accounting for various tasks and constraints is the inverse kinematics. Based on the taskfunction approach, this class of methods makes possible the coordination of the robot movements to execute several tasks in parallel and account for the sensor feedback, in real-time thanks to the low computation cost. To some extent, it also enables dealing with some of the robot constraints (e.g. joint limits or visibility)
doi:10.1109/tro.2012.2234351
fatcat:mbick7hdd5eavhh2rbho2yha3y