Whole-Body Control of Humanoid Robot in 3D Multi-Contact under Contact Wrench Constraints Including Joint Load Reduction with Self-Collision and Internal Wrench Distribution.
Naoki HiraokaMasaki MurookaHideaki ItoIori YanokuraKei OkadaMasayuki InabaPublished in: IROS (2019)
Keyphrases
- humanoid robot
- joint space
- legged locomotion
- biologically inspired
- motion planning
- multi modal
- pattern generator
- control system
- motion capture
- human robot interaction
- motor control
- human robot
- fully autonomous
- imitation learning
- computer vision
- real time
- human motion
- principal component analysis
- control method
- feature space
- kinematic constraints