Open AccessMotion Planning of Manipulators Using Kinematic Redundancy and ZMP Constraint Condition
Author(s) -
Jae-Yeon Choi,
Hyung Joon Yoon,
Byung-Ju Yi
Publication year - 2011
Publication title -
lo'bos gonghaghoe nonmunji/robot hakoe nonmunji
Language(s) - English
Resource type - Journals
eISSN - 2287-3961
pISSN - 1975-6291
DOI - 10.7746/jkros.2011.6.4.308
Subject(s) - redundancy (engineering) , constraint (computer aided design) , control theory (sociology) , kinematics , motion planning , computer science , zero moment point , robot manipulator , constraint algorithm , robot , mathematical optimization , mathematics , control (management) , artificial intelligence , lagrange multiplier , humanoid robot , physics , geometry , classical mechanics , operating system