Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method.
Eric A. CousineauAaron D. AmesPublished in: ICRA (2015)
Keyphrases
- cost function
- mathematical model
- prior knowledge
- theoretical analysis
- statistical model
- motion features
- probabilistic model
- parameter estimation
- evaluation method
- prediction model
- closed form
- linear model
- optimization method
- objective function
- energy function
- em algorithm
- mechanical systems
- kinematic model
- mass spring
- weak perspective projection
- bayesian framework
- kalman filter
- bp neural network
- optical flow