Walking Control of a Humanoid Robot via Explicit and Stable CoM Manipulation with the Angular Momentum Resolution.
Kyung-ho AhnYonghwan OhPublished in: IROS (2006)
Keyphrases
- humanoid robot
- walking speed
- manipulation tasks
- legged locomotion
- biologically inspired
- motion planning
- multi modal
- motor control
- human robot interaction
- imitation learning
- human robot
- motion capture
- joint space
- control system
- body movements
- learning rate
- gait recognition
- biped walking
- human motion
- motor learning
- sensory feedback
- dialogue system
- fully autonomous
- high dimensional
- robotic systems
- high resolution