Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion.
Masaki MurookaMitsuharu MorisawaFumio KanehiroPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- robot motion
- humanoid robot
- motion planning
- motion control
- motion capture
- control signals
- moving points
- kinematic model
- motion analysis
- space time
- configuration space
- trajectory planning
- optical flow
- open loop
- control method
- control strategy
- control system
- motion detection
- camera motion
- robotic arm
- sagittal plane
- video stabilization
- mechanical systems
- motion estimation
- motion model
- degrees of freedom
- human motion
- motion blur
- motion segmentation
- physical constraints
- end effector
- force feedback
- feature points
- robot manipulators
- mobile robot
- constant velocity
- spatio temporal
- reference trajectory