Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations.
Manuel KudrussMaximilien NaveauOlivier StasseNicolas MansardChristian KirchesPhilippe SouèresKatja D. MombaurPublished in: Humanoids (2015)
Keyphrases
- optimal control
- control problems
- humanoid robot
- dynamic programming
- continuous stirred tank reactor
- feedback control
- human motion
- control strategy
- risk sensitive
- class of nonlinear systems
- kinematic constraints
- infinite horizon
- image sequences
- reinforcement learning
- motion detection
- dynamic model
- configuration space
- brownian motion
- optimal control problems
- motion planning
- control law
- linear quadratic
- neural network
- moving objects
- human body
- tracking error
- evolutionary algorithm