law enforcing / direct multiple shooting algorithms / rigid body dynamical systems / chemical protective clothing / motion planning algorithm / feasible solution / sparse solutions / scalar product / /
OperatingSystem
Adios / /
Organization
Center of Mass / Defense Advanced Research Projects Agency / MIT / Robotics Society of Japan / Society for Industrial and Applied Mathematics / Air Force Research Laboratory / /
Person
Neil Neville / Kuan-Ting Yu / Ibrahim Awwal / C. Karen Liu / Michael Posa / Hans Georg / Marc Raibert / Matthew Antone / Douglas Stephen / Georg Bock / Amara Mesnik / John T. Betts / Moritz Diehl / Phil Cherner / Scott Kuindersma / Karl Iagnemma / Jeff Egmond / Walter Murray / Sylvain Bertrand / Johannes Englsberger / Pat Marion / Julie Shah / Peter Abeles / Ben Swilling / Maurice Fallon / Michael Levashov / Dimitar Dimitrov / Pierre-Brice Wieber / Pieter Abbeel / Stephen Mccrory / Aaron Saunders / David E. Orin / Robin Deits / Harold Wong / John Schulman / Chris Lee / Jonathan Ho / John Carff / Robert Playter / Nathan Mertins / Seth Teller / Holger Diedam / Henry Bradlow / Sung-Hee Lee / Alexander Sherikov / Matt DiCicco / Philip E. Gill / Alexander Shkolnik / Yuting Ye / Ambarish Goswami / Devin Billings / Michael A. Saunders / Joe Bondaryk / Ian R. Manchester / Katja D. Mombaur / Erwin Coumans / Toby Schneider / Russ Tedrake / Gabe Nelson / Valenzuela Tedrake Abstract / / /
Position
Robotiq hand model / Teller / head / full hand model for this example / full-body dynamics model for comparison / planner / controller / /
Whole-body Motion Planning with Simple Dynamics and Full Kinematics Hongkai Dai, Andr´es Valenzuela and Russ Tedrake Abstract— To plan dynamic, whole-body motions for robots, one conventionally faces the choice betwee