Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control.
Stéphane CaronAbderrahmane KheddarOlivier TempierPublished in: CoRR (2018)
Keyphrases
- humanoid robot
- legged locomotion
- motion planning
- biologically inspired
- multi modal
- human robot interaction
- motor control
- human robot
- motion capture
- walking speed
- rough terrain
- joint space
- robotic arm
- real robot
- body movements
- human motion
- control loop
- motor learning
- fully autonomous
- computer vision
- vision system
- control system
- manipulation tasks
- imitation learning
- spatio temporal
- viewpoint
- high dimensional
- three dimensional