Motion Generation of Humanoids based on Object Trajectory Description

摘要

This paper describes whole-body motion behavior generation method of humanoid robots based on object trajectory level operation. Increasing complexity of humanoid robot requires simple method for creating whole body motion that can be easily programmed compared with joint angle level description. We propose whole-body motion generator of humanoid robots that accepts object trajectory level description by using whole-body motion generation method which concern about contacts and collisions between the robot and the objects.