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• W2000405511 abstract "In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion planner and dynamic pattern generator interacts by exchanging the trajectory, to obtain 3D whole-body dynamic motions simultaneous tasks including locomotion, in complex environments. We propose a practical method for smooth motion reshaping to avoid collisions in generated dynamic motion. Based on motion editing techniques in computer graphics animation, smooth collision-avoiding motion is generated through trajectory deformation. The validity of the proposed reshaping method is verified by computer simulations and experiments using humanoid platform HRP-2" @default.
• W2000405511 created "2016-06-24" @default.
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• W2000405511 date "2006-10-01" @default.
• W2000405511 modified "2023-10-16" @default.
• W2000405511 title "Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion" @default.
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• W2000405511 doi "https://doi.org/10.1109/iros.2006.281732" @default.
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