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• W2003019178 abstract "In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By 'locomotion path' we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal control problem. We propose a single dynamic model valid for all situations, which includes both non-holonomic and holonomic modes of locomotion, as well as an appropriately designed unified objective function. The choice between holonomic and non-holonomic behavior is not accomplished by a switching model, but it appears in a smooth way, along with the optimal path, as a result of the optimization by efficient numerical techniques. The proposed model and objective function are successfully tested in six different locomotion scenarios. The resulting paths are implemented on the HRP-2 robot in the simulation environment Op..." @default.
• W2003019178 created "2016-06-24" @default.
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• W2003019178 date "2010-01-01" @default.
• W2003019178 modified "2023-09-30" @default.
• W2003019178 title "An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots" @default.
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• W2003019178 doi "https://doi.org/10.1163/016918610x487090" @default.
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