Optimization-based generation and experimental validation of optimal walking trajectories for biped robots.
Alexander WernerRoberto LamparielloChristian OttPublished in: IROS (2012)
Keyphrases
- humanoid robot
- optimal design
- motion patterns
- biped walking
- optimal selection
- joint optimization
- optimization algorithm
- approximately optimal
- motion planning
- biped robot
- optimization process
- mobile robot
- optimization method
- dynamic programming
- multi modal
- finding optimal
- collision free
- moving objects
- optimization problems
- biologically inspired
- human robot interaction
- multi robot
- max min
- generation process
- worst case
- real robot
- constrained optimization
- optimal solution
- control strategy