Start, Stop and Transition of Velocities of an under-Actuated Bipedal Robot without Reference Trajectories.
Christophe SabourinOlivier BruneauJean-Guy FontainePublished in: Int. J. Humanoid Robotics (2004)
Keyphrases
- humanoid robot
- autonomous robots
- motion patterns
- moving objects
- mobile robot
- kinematic model
- force control
- control law
- closed loop
- collision free
- configuration space
- path planning
- human robot interaction
- motion planning
- reference trajectory
- motion control
- robotic systems
- robot manipulators
- walking speed
- multi robot
- open loop
- obstacle avoidance
- robot control
- image sequences
- reference frame
- robot navigation
- trajectory data
- mobile robotics
- robot arm
- vision system
- control scheme
- experimental platform
- position and orientation
- multi modal
- trajectory planning
- search and rescue
- spatio temporal
- control strategy
- real robot
- real time