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- Publisher Website: 10.1109/ICHR.2009.5379545
- Scopus: eid_2-s2.0-77950561931
- WOS: WOS:000270497300046
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Conference Paper: Motion planning of human-like robots using constrained coordination
Title | Motion planning of human-like robots using constrained coordination |
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Authors | |
Issue Date | 2009 |
Citation | 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, 2009, p. 188-195 How to Cite? |
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. ©2009 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/206236 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Zhang, Liangjun | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2014-10-22T01:25:30Z | - |
dc.date.available | 2014-10-22T01:25:30Z | - |
dc.date.issued | 2009 | - |
dc.identifier.citation | 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, 2009, p. 188-195 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206236 | - |
dc.description.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. ©2009 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 | - |
dc.title | Motion planning of human-like robots using constrained coordination | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICHR.2009.5379545 | - |
dc.identifier.scopus | eid_2-s2.0-77950561931 | - |
dc.identifier.spage | 188 | - |
dc.identifier.epage | 195 | - |
dc.identifier.isi | WOS:000270497300046 | - |