A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory

Yoichi Shigematsu, Naoya Yoshinaga, Hitoshi Inabe, Ryoichiro Tamura, Tomoya Fujii, Souta Okada, Nobuto Hirakoso. A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory. In International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018, Nagoya, Japan, December 9-12, 2018. pages 1-5, IEEE, 2018. [doi]

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