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Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link.
Ko Ayusawa
Gentiane Venture
Yoshihiko Nakamura
Published in:
Humanoids (2008)
Keyphrases
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humanoid robot
dynamic model
walking speed
motion planning
parameter identification
biologically inspired
multi modal
human robot interaction
nonlinear dynamics
imitation learning
human motion
closed loop
motion capture
initial conditions
maximum likelihood
dynamical systems
viewpoint
virtual environment
human robot