Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4.
Cornelius GoldbeckLukas KaulNikolaus VahrenkampFlorentin WörgötterTamim AsfourJan-Matthias BraunPublished in: Humanoids (2016)
Keyphrases
- humanoid robot
- control theory
- walking speed
- biped walking
- motion planning
- multi modal
- biologically inspired
- control law
- control system
- interval type fuzzy
- control algorithm
- motor control
- human robot interaction
- neural network
- limit cycle
- real time
- human robot
- closed loop
- dynamic model
- biped robot
- legged locomotion
- pid controller
- real robot
- fuzzy controller
- head movements
- control scheme
- motor skills
- imitation learning
- vision system
- central pattern generator