Self-collision avoidance and angular momentum compensation for a biped humanoid robot

To simplify the development of new trajectories for a humanoid robot with many joints, the ability to check for potential collisions is crucial. More importantly, to enable on line generation of general motions, such as whole-body-motion, collision avoidance must be employed, which is usually more c...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Schwienbacher, Markus, Buschmann, Thomas, Lohmeier, Sebastian, Favot, Valerio, Ulbrich, Heinz
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Collision avoidance Jacobian matrices Joints Kinematics Leg Legged locomotion
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