Whole-body motion planning with centroidal dynamics and full kinematics
To plan dynamic, whole-body motions for robots, one conventionally faces the choice between a complex, full-body dynamic model containing every link and actuator of the robot, or a highly simplified model of the robot as a point mass. In this paper we explore a powerful middle ground between these e...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2016
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| Online Access: | http://hdl.handle.net/1721.1/101079 https://orcid.org/0000-0001-6798-1921 https://orcid.org/0000-0002-8712-7092 https://orcid.org/0000-0001-9363-3701 |