Real-time stabilization of a falling humanoid robot using hand contact: An optimal control approach.
Shihao WangKris HauserPublished in: Humanoids (2017)
Keyphrases
- optimal control
- humanoid robot
- real time
- control strategy
- dynamic programming
- control problems
- motion planning
- infinite horizon
- class of nonlinear systems
- risk sensitive
- multi modal
- feedback control
- control system
- optimal control problems
- control law
- vision system
- reinforcement learning
- motion capture
- human robot
- fully autonomous
- pattern generator
- path planning
- body movements
- mobile robot
- walking speed