Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion.
Stefano DafarraGiulio RomualdiDaniele PucciPublished in: CoRR (2022)
Keyphrases
- humanoid robot
- robot motion
- legged locomotion
- rough terrain
- motion planning
- multi modal
- biologically inspired
- fully autonomous
- dynamic environments
- trajectory planning
- human robot interaction
- collision free
- motion capture
- human motion
- joint space
- motor control
- body movements
- imitation learning
- motion primitives
- machine learning
- manipulation tasks
- motor skills
- state space
- spatio temporal
- high dimensional