An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots.
Bernd HenzeAlexander DietrichChristian OttPublished in: IEEE Robotics Autom. Lett. (2016)
Keyphrases
- humanoid robot
- legged locomotion
- motion planning
- multi modal
- rough terrain
- biologically inspired
- human robot interaction
- control system
- walking speed
- joint space
- human robot
- human motion
- inverted pendulum
- motion control
- motor skills
- robot motion
- imitation learning
- motor control
- motion capture
- fully autonomous
- spatio temporal
- real robot
- mobile robot