Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid.

Shimpei Masuda Kuniyuki Takahashi

Published in: Humanoids (2023)

Keyphrases

humanoid robot
degrees of freedom
sensor data
real time
sensor networks
data driven
dynamic model
robotic systems
multi sensor
motion planning
rough terrain
robot motion
high sensitivity
autonomous robots
knowledge transfer
control scheme
closed loop
transfer learning
fault diagnosis
real life