3DZMP-based control of a humanoid robot with reaction forces at 3-dimensional contact points.
Kentaro InomataYutaka UchimuraPublished in: AMC (2010)
Keyphrases
- humanoid robot
- motion planning
- biologically inspired
- multi modal
- legged locomotion
- fully autonomous
- control system
- motor control
- three dimensional
- human robot
- robot control
- human robot interaction
- motion capture
- inverted pendulum
- control strategy
- human motion
- contact force
- joint space
- motor learning
- image sequences
- real time
- sensory feedback