Generation of whole-body optimal dynamic multi-contact motions

International Journal of Robotics Research

Volumn 32, Issue 9-10, 2013, Pages 1104-1119

  Lengagne, Sébastien ^a,b   Vaillant, Joris ^a,c   Yoshida, Eiichi ^a   Kheddar, Abderrahmane ^a,c  

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

^b KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

^c CNRS   (France)

Author keywords

balance; humanoid robots; multi contact motions; optimization; Taylor series approximation; time interval discretization

Indexed keywords

DISCRETIZATIONS; HUMANOID ROBOT; MULTI-CONTACT; NON-LINEAR OPTIMIZATION; OPTIMIZATION VARIABLES; SEMI INFINITE PROGRAMMING; TAYLOR SERIES APPROXIMATION; TAYLOR SERIES EXPANSIONS;

ANTHROPOMORPHIC ROBOTS; BALANCING; COST FUNCTIONS; ROBOT PROGRAMMING; TAYLOR SERIES;

OPTIMIZATION;

EID: 84884225486     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364913478990     Document Type: Article

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