A whole-body control framework for humanoids operating in human environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2641-2648

  Sentis, Luis ^a   Khatib, Oussama ^a  

^a Stanford University   (United States)

Author keywords

Free floating dynamics; Hierarchical control; Prioritization; Supporting contacts; Whole body behaviors

Indexed keywords

BIPED LOCOMOTION; CONTROL EQUIPMENT; HIERARCHICAL SYSTEMS; KINEMATICS; PHYSIOLOGICAL MODELS; REDUNDANCY; ROBOTS;

BODY CONTROL FRAMEWORK; FREE-FLOATING MODELS; HUMANOID ROBOTS; HUMANOIDS; PRIORITIZATION;

HUMAN ENGINEERING;

EID: 33845632078     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642100     Document Type: Conference Paper

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