A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots.
Stefano DafarraGabriele NavaMarie CharbonneauNuno GuedelhaFrancisco AndradeSilvio TraversaroLuca FiorioFrancesco RomanoFrancesco NoriGiorgio MettaDaniele PucciPublished in: CoRR (2018)
Keyphrases
- humanoid robot
- control architecture
- motion planning
- position control
- control strategy
- joint space
- robot arm
- biologically inspired
- robotic systems
- multi modal
- legged locomotion
- control system
- online learning
- autonomous agents
- motion capture
- human robot interaction
- force control
- degrees of freedom
- walking speed
- gaze control
- real time
- control theoretic
- control law
- control algorithm
- manipulation tasks
- shop floor
- imitation learning
- dynamic model
- inverse kinematics
- human robot
- control scheme
- human motion
- vision system
- biped walking
- distributed control
- planning problems
- mobile robot