2D Push Recovery and Balancing of the EVER3 - a Humanoid Robot with Wheel-Base, using Model Predictive Control and Gain Scheduling.
Nikhil GuptaJesper SmithBrandon ShrewsburyBernt BørnichPublished in: Humanoids (2019)
Keyphrases
- humanoid robot
- model predictive control
- predictive control
- control system
- motion planning
- multi modal
- imitation learning
- human robot
- human robot interaction
- walking speed
- fully autonomous
- body movements
- motion capture
- motor skills
- control scheme
- joint space
- human motion
- decision support system
- computer vision
- neuro fuzzy
- rough terrain
- disturbance rejection