Generation of dynamic motions under continuous constraints: Efficient computation using B-splines and taylor polynomials

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 698-703

  Lengagne, Sébastien ^a   Mathieu, Paul ^a   Kheddar, Abderrahmane ^a   Yoshida, Eiichi ^a  

^a National Institute of Advanced Industrial Science and Technology   (Japan)

Author keywords

Humanoid robots; Motion optimization; Semi infinite programming; Taylor polynomials

Indexed keywords

B SPLINES; COMPUTATION METHODS; CONSTRAINT SATISFACTION; CONTINUOUS CONSTRAINTS; CONTINUOUS MAXIMA; DERIVATIVE CONSTRAINTS; DISCRETIZATIONS; DYNAMIC MOTIONS; EFFICIENT COMPUTATION; EQUALITY CONSTRAINTS; GRID DISCRETIZATION; HUMANOID ROBOT; MOTION OPTIMIZATION; ROBOTIC SYSTEMS; SEMI INFINITE PROGRAMMING; SEMI-INFINITE OPTIMIZATION; TAYLOR POLYNOMIALS; TIME SAMPLES;

ANTHROPOMORPHIC ROBOTS; INTELLIGENT ROBOTS; OPTIMIZATION; POLYNOMIALS; SPLINES;

ROBOT PROGRAMMING;

EID: 78651510501     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649233     Document Type: Conference Paper

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