Planning of joint trajectories for humanoid robots using B-spline wavelets
- 7 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2223-2228
- https://doi.org/10.1109/robot.2000.846358
Abstract
The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots" kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of a humanoid...Keywords
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