Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control.
Bernd HenzeChristian OttMáximo A. RoaPublished in: IROS (2014)
Keyphrases
- model predictive control
- humanoid robot
- predictive control
- control system
- motion planning
- human motion
- mpc algorithm
- control strategy
- control scheme
- human robot interaction
- disturbance rejection
- joint space
- multi modal
- neural network
- motor control
- biologically inspired
- body movements
- multiple models
- neuro fuzzy
- artificial neural networks
- reinforcement learning
- decision trees
- feature selection