Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques
K Mikołajczyk, M Szumowski… - Archive of Mechanical …, 2022 - repo.pw.edu.pl
A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-
shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the …
shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the …
[PDF][PDF] Humanoid robot path planning using rapidly explored random tree and motion primitives
M Szumowski, T Zielinska - Journal of Automation Mobile …, 2021 - bibliotekanauki.pl
Path planning is an essential function of the control sy‐stem of any mobile robot. In this
article the path planner for a humanoid robot is presented. The short description of an …
article the path planner for a humanoid robot is presented. The short description of an …
Solving inverse kinematics of humanoid robot using a redundant tree-shaped manipulator model
K Mikołajczyk, M Szumowski, P Płoński… - Proceedings of the 2020 …, 2020 - dl.acm.org
This paper presents a concept for solving inverse kinematics in humanoid robots using a
tree-shaped manipulator model. Robot trajectory is given as a set of characteristic points …
tree-shaped manipulator model. Robot trajectory is given as a set of characteristic points …