Abstract
This paper deals with motion planning and dynamic control for humanoid robots. The first part addresses simultaneous locomotion and manipulation planning while the second part deals with reaching tasks. The validity of the proposed methods is verified by experiments using humanoid platform HRP-2.
This paper is a compilated version of papers presented in IEEE IROS 2006 [1] and IEEE Humanoids 2006 [2]
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Yoshida, E., Laumond, JP., Esteves, C., Kanoun, O., Sakaguchi, T., Yokoi, K. (2008). Whole-Body Locomotion, Manipulation and Reaching for Humanoids. In: Egges, A., Kamphuis, A., Overmars, M. (eds) Motion in Games. MIG 2008. Lecture Notes in Computer Science, vol 5277. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89220-5_21
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DOI: https://doi.org/10.1007/978-3-540-89220-5_21
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