Non-textual Scientific Publications:
D. Stoeva, H. Frijns, M. Gelautz, O. Schürer:
"Analytical Solution of Pepper's Inverse Kinematics for a Pose Matching Imitation System";
Publication type: Videovortrag,
project: RO-MAN 2021;
2021.
English abstract:
In this work we present a kinematics model for the humanoid robot Pepper. The model is based on analytical solutions of the inverse kinematics, which provide very accurate and fast results. It is envisioned to be used in a human-humanoid pose matching imitation system as it allows for translation of human joint positions to robot joint angles while maintaining the angle configuration of the body pose.
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
http://dx.doi.org/10.48448/skx6-g710
Created from the Publication Database of the Vienna University of Technology.