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- W1986429654 abstract "Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder, turning a valve, and turning a door handle." @default.
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- W1986429654 date "2014-12-01" @default.
- W1986429654 modified "2023-09-30" @default.
- W1986429654 title "Manipulation planning for the Atlas humanoid robot" @default.
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- W1986429654 doi "https://doi.org/10.1109/robio.2014.7090482" @default.
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