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Learning by observation is a useful goal for humanoid robots that strive for human-like motion. Over time the movements and actions of these robots are likely to require modification for different scenarios and environments. Therefore being able to `teach' the robot new tasks and motions without tedious programming is highly useful. The operational space formulation is a highly elegant robot manipulator...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
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