Fast interpolation and time-optimization with contact
نویسندگان
چکیده
منابع مشابه
Fast interpolation and time-optimization with contact
This paper presents a method for generating dynamically feasible, keyframe-interpolating motions for robots undergoing contact, such as in legged locomotion and manipulation. The first stage generates a twice-differentiable interpolating path that obeys kinematic contact constraints up to a user-specified tolerance. The second stage optimizes speeds along the path to minimize time while satisfy...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2014
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364914527855