Humanoid Walking System with CNN-Based Uneven Terrain Recognition and Landing Control with Swing-Leg Velocity Constraints.
Shimpei SatoKunio KojimaNaoki HiraokaKei OkadaMasayuki InabaPublished in: IROS (2023)
Keyphrases
- walking robot
- humanoid robot
- convolutional neural network
- recognition rate
- quadruped robot
- legged robots
- recognition accuracy
- object recognition
- rough terrain
- biped robot
- walking speed
- recognition algorithm
- disturbance rejection
- control strategy
- control method
- feedback loop
- gait patterns
- legged locomotion
- face recognition
- limit cycle
- fixed point
- action recognition