Planning of joint trajectories for humanoid robots using B-spline wavelets
作者： A. Ude , C.G. Atkeson , M. Riley
DOI: 10.1109/ROBOT.2000.846358
关键词:
摘要: The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task standard because the complexity robots' kinematics. We exploit similarity between movements a robot human to generate such robots. In particular we show how transform motion information captured by an optical tracking device into high dimensional trajectory robot. utilize B-spline wavelets efficiently represent automatically select density basis functions on time axis. applied our method teaching make dance movement.
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