Foot Stepping Algorithm of Humanoids with Double Support Time Adjustment based on Capture Point Control.
Myeong-Ju KimDaegyu LimGyeongjae ParkJaeheung ParkPublished in: ICRA (2023)
Keyphrases
- preprocessing
- np hard
- matching algorithm
- times faster
- experimental evaluation
- detection algorithm
- optimization algorithm
- cost function
- computational cost
- probabilistic model
- learning algorithm
- mathematical model
- expectation maximization
- improved algorithm
- high accuracy
- worst case
- multi robot
- computational complexity
- recognition algorithm
- computationally efficient
- theoretical analysis
- convergence rate
- search space
- optimal solution
- selection algorithm
- input data
- tree structure
- segmentation algorithm
- least squares
- dynamic programming
- k means
- objective function