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• W2102792266 abstract "We present a whole-body motion planning algorithm for human-like robots. The planning problem is decomposed into a sequence of low-dimensional sub-problems. Our formulation is based on the fact that a human-like model is a tightly coupled system and we use a constrained coordination scheme to solve the sub-problems in an incremental manner. We also present a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We demonstrate the performance of our algorithm on an articulated human-like model and generate efficient motion strategies in complex CAD models." @default.
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• W2102792266 date "2009-12-01" @default.
• W2102792266 modified "2023-09-28" @default.
• W2102792266 title "Motion planning of human-like robots using constrained coordination" @default.
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• W2102792266 doi "https://doi.org/10.1109/ichr.2009.5379545" @default.
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