A Goal driven perspective to generate humanoid motion synthesis
Résumé
In this paper, the authors propose a generic controller which performs the synthesis of complex humanoid whole-body behaviors. It also illustrates the combination of a low level controller based on weighted tasks mixed with a LQP, and a high level controller based on goals and actions. This association is useful for non deterministic scenarios, and it is illustrated trough three simulations.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
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