Multi-contact planning and control for a torque-controlled humanoid robot.
Alexander WernerBernd HenzeDiego A. RodriguezJonathan GabaretOliver PorgesMáximo A. RoaPublished in: IROS (2016)
Keyphrases
- humanoid robot
- motion planning
- legged locomotion
- joint space
- multi modal
- biologically inspired
- robotic arm
- motor control
- human robot
- control strategy
- human robot interaction
- motion capture
- imitation learning
- induction motor
- robotic systems
- control algorithm
- human motion
- fully autonomous
- degrees of freedom
- path planning
- robot arm
- body movements
- walking speed
- real time
- pattern generator
- feedback loop
- action selection
- control method
- mobile robot
- control system
- spatio temporal