Online Walking Pattern Generation for Humanoid Robot with Compliant Motion Control.
Mingon KimDaegyu LimJaeheung ParkPublished in: ICRA (2019)
Keyphrases
- humanoid robot
- pattern generation
- motion control
- real robot
- motion planning
- multi modal
- mobile robot
- walking speed
- control system
- human robot interaction
- fully autonomous
- robot control
- autonomous robots
- kinematic model
- joint space
- physical constraints
- imitation learning
- control algorithm
- cellular automata
- rough terrain
- real time
- biped walking
- cellular automaton
- visual servoing
- pid controller
- dynamic environments
- hidden markov models
- reinforcement learning
- machine learning