Abstract
A body of humanoid robot is receiving a big reaction force during high-speed hand operation. The paper proposes a trajectory generation method by using redundant joint as counter weight. The method generates the trajectory with the changing from an initial trajectory in momentum space. The method, Modified Momentum Trajectory Generation, can be applied to reduce the reaction force and increase hand velocity.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
