{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T13:20:01Z","timestamp":1756992001172,"version":"3.37.3"},"reference-count":0,"publisher":"IOS Press","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009]]},"abstract":"<jats:p>Humanoid robots have a large number of &amp;ldquo;extra&amp;rdquo; joints, organized in a humanlike fashion with several kinematic chains. In this chapter we describe a method of motion planning that is based on an artificial potential field approach (Passive Motion Paradigm) combined with terminal-attractor dynamics. No matrix inversion is necessary and the computational mechanism does not crash near kinematic singularities or when the robot is asked to achieve a final pose that is outside its intrinsic workspace: what happens, in this case, is the gentle degradation of performance that characterizes humans in the same situations. Moreover, the remaining error at equilibrium is a valuable information for triggering a reasoning process and the search of an alternative plan. The terminal attractor dynamics implicitly endows the generated trajectory with human-like smoothness and this computational framework is characterized by a feature that is crucial for complex motion patterns in humanoid robots, such as bimanual coordination or interference avoidance: precise control of the reaching time.<\/jats:p>","DOI":"10.3233\/978-1-60750-010-0-169","type":"book-chapter","created":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T10:26:53Z","timestamp":1740133613000},"source":"Crossref","is-referenced-by-count":1,"title":["Motion planning and bimanual coordination in humanoid robots"],"prefix":"10.3233","author":[{"family":"Morasso Pietro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Mohan Vishwanathan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Metta Giorgio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Sandini Giulio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"7437","container-title":["Frontiers in Artificial Intelligence and Applications","Computational Intelligence and Bioengineering"],"original-title":[],"deposited":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T10:27:20Z","timestamp":1740133640000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.medra.org\/servlet\/aliasResolver?alias=iospressISSNISBN&issn=0922-6389&volume=196&spage=169"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009]]},"references-count":0,"URL":"https:\/\/doi.org\/10.3233\/978-1-60750-010-0-169","relation":{},"ISSN":["0922-6389"],"issn-type":[{"value":"0922-6389","type":"print"}],"subject":[],"published":{"date-parts":[[2009]]}}}