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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2021
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| 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 |