Generating whole body movements for dynamics anthropomorphic systems under constraints

De leur lame aiguisée, Les têtes allaient rouler Dans la sciure mouillée Du sang des condamnés.. Bon sang qu’il était sage Le temps

This paper proposes a complete solution to perform task- space (operational-space) inverse dynamics while taking into account various tasks, unilateral constraints such as

The first stage of our algorithm uses a sampling-based constrained motion planner and computes a collision-free statically balanced path for a robot which can be fixed or sliding on

To achieve these tasks that challenge the robot balance, this paper proposes the integration of the capture point in the operational- space inverse dynamics control framework so

In our previous work, we used Probabilistic Movement Primitives (ProMPs) to learn trajectory distributions of robotic actions and to predict the future intended movement

The second presented framework for the online synthesis of complex body motion is based on the learning of hierarchical probabilistic generative models, where we ex- ploit

Tout d’abord, nous sommes int´ eress´ es par l’impl´ ementation d’un algorithme complet pour la r´ esolution de l’´ equation dynamique du mouvement sur un syst` eme

This document is the final report of the PROMISE research project that focuses on developing a federal strategy for the preservation of the Belgian web. The web has become