Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels.
Jory LafayeDavid GouaillierPierre-Brice WieberPublished in: Humanoids (2014)
Keyphrases
- body movements
- humanoid robot
- model predictive control
- legged locomotion
- rough terrain
- motion planning
- multi modal
- mobile robot
- predictive control
- control system
- human robot interaction
- angular velocity
- vision system
- degrees of freedom
- human motion
- autonomous robots
- human robot
- imitation learning
- walking speed
- decision trees
- autonomous navigation
- closed loop
- fuzzy rules
- fully autonomous
- pattern generator