Humanoid following random target input

With the humanoid robot HRP-4, we implemented the motion of pouring a cup of water using an electrical pot.
We improved the real-timeness by generating a dual-arm coordinated motion.

Publication

1. Satoki Tsuichihara, Yuya Hakamata, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara,
   Real-time whole-body motion generation using torso posture regression and center of mass,
   ROBOMECH Journal, Vol. 5, No. 1, pp. 1-13, 2018.
   [Robomech Journal][bibtex]
2. 築地原 里樹, 袴田 有哉, Garcia Ricardez Gustavo Alfonso, 高松淳, 小笠原司:
   胴体姿勢回帰と重心補正を用いた高速な全身運動生成,
   ロボティクスメカトロニクス講演会2018 (ROBOMECH2018), 2A2-I07, 2018年6月4-5日.