Uploaded April 2017 | Updated September 2026, 4 hours ago

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Usual control of humanoid robots uses heuristically pre-defined torso trajectories. When walking up and down, however, these trajectories may result in joints violating kinematic constraints. If we integrate the robot's motion beforehand the torso trajectories can be adapted such that kinematic limits are never reached, achieving a more precise, versatile and stable motion.

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