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A Goal driven perspective to generate humanoid motion synthesis

Abstract : 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.
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Submitted on : Tuesday, July 24, 2012 - 2:18:09 PM
Last modification on : Wednesday, September 28, 2022 - 5:52:10 AM
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Joseph Salini, Vincent Padois, Aurélien Ibanez, Philippe Bidaud, Axel Buendia. A Goal driven perspective to generate humanoid motion synthesis. Bidaud, P. and Tokhi, M. and Grand, C. and Virk, G. Field Robotics Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.889-897, 2011, 978-981-4374-27-9. ⟨10.1142/9789814374286_0104⟩. ⟨hal-00720395⟩



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