Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot.
Jory LafayeCyrille CollettePierre-Brice WieberPublished in: ICRA (2015)
Keyphrases
- humanoid robot
- model predictive control
- mobile robot
- control system
- predictive control
- motion planning
- multi modal
- human robot
- human robot interaction
- fully autonomous
- joint space
- vision system
- walking speed
- control algorithm
- human motion
- control scheme
- imitation learning
- decision trees
- autonomous navigation
- virtual environment
- dynamic environments