Ligang Ge

GHO-WBC: A Gradient-Based Hierarchical Kinematic Optimization Approach to Enhance the Reachability of a Humanoid Robot

Humanoid robots are vital tools for substituting humans in various operational scenarios. A sufficiently large stationary reachability is a key factor in ensuring their operational capability. To address this challenge, this paper proposes a whole-body reachability enhancing approach for humanoid ro