Non-linear ZMP based state estimation for humanoid robot locomotion.
Stylianos PiperakisPanos E. TrahaniasPublished in: Humanoids (2016)
Keyphrases
- humanoid robot
- state estimation
- control theory
- legged locomotion
- rough terrain
- motion planning
- kalman filter
- multi modal
- particle filtering
- state space model
- kalman filtering
- particle filter
- human robot interaction
- dynamic systems
- human motion
- human robot
- fully autonomous
- mobile robot
- visual tracking
- robotic systems
- walking speed
- imitation learning
- joint space
- real time
- learning algorithm
- feature space
- spatio temporal
- markov random field