Automatic gain tuning of a momentum based balancing controller for humanoid robots.
Daniele PucciGabriele NavaFrancesco NoriPublished in: Humanoids (2016)
Keyphrases
- humanoid robot
- motion planning
- walking speed
- human robot interaction
- control system
- multi modal
- semi automatic
- optimal control
- manipulation tasks
- human robot
- learning rate
- fuzzy controller
- biologically inspired
- human motion
- neural network
- joint space
- real time
- biped walking
- motor skills
- control scheme
- control strategy
- closed loop