Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach.
Concepción A. MonjeSantiago Martínez de la Casa DíazPaolo PierroCarlos BalaguerPublished in: Cybern. Syst. (2018)
Keyphrases
- humanoid robot
- control theory
- real time
- motion planning
- biologically inspired
- control system
- multi modal
- walking speed
- legged locomotion
- human robot interaction
- motor skills
- human robot
- fully autonomous
- body movements
- motor control
- motion capture
- imitation learning
- control loop
- stability analysis
- human motion
- head movements
- manipulation tasks
- robotic arm
- control law
- disturbance rejection
- control algorithm