Person:
Egerstedt,
Magnus B.
Egerstedt,
Magnus B.
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ItemKinematics and Inverse Kinematics for the Humanoid Robot HUBO2+(Georgia Institute of Technology, 2013) O’Flaherty, Rowland ; Vieira, Peter ; Grey, Michael ; Oh, Paul ; Bobick, Aaron F. ; Egerstedt, Magnus B. ; Stilman, MikeThis paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar humanoid platforms. First, the forward and inverse kinematics are derived for the arms and legs. Then, the kinematics for the torso and the head are solved. Finally, the forward and inverse kinematic solutions for the whole body are derived using the kinematics of arms, legs, torso, and head.
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ItemMid-level planning and control for articulated locomoting systems(Georgia Institute of Technology, 2012-06-30) Egerstedt, Magnus B. ; Choset, Howie
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ItemPilot decision aids for multi-vehicle ops(Georgia Institute of Technology, 2011-09-01) Egerstedt, Magnus B. ; Chipalkatty, Rahul ; Twu, Philip Y. ; Rahmani, Amir R.
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ItemSummer school on cyber physical systems(Georgia Institute of Technology, 2011-08-23) Wolf, Marilyn ; Egerstedt, Magnus B.
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ItemCSR-EHS: Optimal, multi-modal control of complex systems(Georgia Institute of Technology, 2009-08-20) Egerstedt, Magnus B.
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ItemDecentralized algorithms for locally interacting mobile robots(Georgia Institute of Technology, 2008-11-21) Egerstedt, Magnus B.