Abstract
This introduction briefly overviews the common issues we encounter when we want to plan the motion of a humanoid robot to achieve its goal in different situations. Essential techniques to compute humanoid motions are described in this Part, which are mainly motion planning, motion optimization and bipedal gait generation. This Part offers a complete set of state-of-the-art methodologies to tackle a variety of the humanoid motion planning problems.
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Yoshida, E., Mombaur, K. (2019). Introduction: Motion Planning, Optimization, and Biped Gait Generation. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_28
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DOI: https://doi.org/10.1007/978-94-007-6046-2_28
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