Using Zero Moment Point preview control formulation to generate nonlinear trajectories of walking patterns on humanoid robots.
Yunn-Lin HwangThi-Na TaChien-Hsin ChenKun-Nan ChenPublished in: FSKD (2015)
Keyphrases
- humanoid robot
- motion patterns
- motion planning
- multi modal
- legged locomotion
- biologically inspired
- motor control
- walking speed
- human robot interaction
- robot motion
- joint space
- sensory feedback
- body movements
- control system
- human robot
- highly nonlinear
- dynamic environments
- imitation learning
- motor skills
- reference trajectory
- biped robot
- control method
- real robot
- motion capture