A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight.
Shunichi NozawaRyohei UedaYouhei KakiuchiKei OkadaMasayuki InabaPublished in: IROS (2010)
Keyphrases
- humanoid robot
- control method
- body movements
- motion planning
- control algorithm
- joint space
- control strategy
- adaptive control
- multi modal
- motion capture
- control system
- pid controller
- fuzzy control
- human motion
- object tracking
- matlab simulink
- grey prediction
- moving objects
- fuzzy pid control
- human body
- fuzzy controller
- configuration space
- sensory feedback
- d objects
- walking speed
- nonlinear systems
- real time
- networked control systems
- spatio temporal
- high dimensional
- image sequences