Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals.
Siyuan FengX. XinjilefuChristopher G. AtkesonJoohyung KimPublished in: Humanoids (2015)
Keyphrases
- controller design
- mobile robotics
- mobile robot
- control scheme
- human robot interaction
- grand challenge
- nonlinear systems
- modular robots
- robotic systems
- robot programming
- real time
- dynamic model
- global optimization
- path planning
- optimization algorithm
- computer simulation
- robot manipulators
- service robots
- control system
- computer vision
- artificial intelligence
- autonomous robots
- control strategies
- vision system
- simulated annealing