Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking.
Donghyun KimYe ZhaoGray C. ThomasLuis SentisPublished in: CoRR (2015)
Keyphrases
- humanoid robot
- biped robot
- walking robot
- legged robots
- control strategy
- inverted pendulum
- biped walking
- rough terrain
- multiresolution
- three dimensional
- wheeled mobile robots
- quadruped robot
- control parameters
- control method
- directed graph
- multi modal
- low dimensional
- control system
- search space
- motion planning
- undirected graph
- higher dimensional
- feedback control
- optimal control
- arbitrary dimension
- reinforcement learning
- real time