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NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints

Most of the locomotion and contact planners for multi-limbed robots rely on a reduction of the search space to improve the performance of their algorithm. Posture generation plays a fundamental role in these types of planners providing a collision-free, statically stable whole-body posture, projecte...

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Detalles Bibliográficos
Autores principales: Rossini, Luca, Hoffman, Enrico Mingo, Laurenzi, Arturo, Tsagarakis, Nikos G.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8384489/
https://www.ncbi.nlm.nih.gov/pubmed/34447789
http://dx.doi.org/10.3389/frobt.2021.715325