Kang Min

A Hybrid Motion Optimization Framework for the Humanoid Upper-Body Robot: Safe and Dexterous Object Carrying

In this letter, a novel hybrid motion optimization framework is proposed for a humanoid upper-body robot with two 7-DOF arms and a 2-DOF waist, to flexibly and safely carry objects in constrained and dynamic environments. The framework consists of <bold xmlns:mml="http://www.w3.org/1998/Math/MathML"