Optimization technique is becoming more and more important in many research fields of robotics to plan and control the motion of various robots. Especially, anthropomorphic systems including humanoid robots and digital human models that we have been working on, are attracting interests because of its widespread application areas. Together with a motion planning method where geometric and kinematic path is first planned and then converted into whole-body trajectory by using dynamic locomotion pattern generator and inverse kinematics (IK) for a loco-manipulation task, our group also tackled whole-body motion optimization problem that was still challenging at that time as it should take into account many mechanical constraints such as joint or torque limit, as well as constraints like dynamic stability and unilateral contacts at the same time for a large number of degrees of freedom (DOFs).
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