Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI.
Junewhee AhnSuhan ParkJaehoon SimJaeheung ParkPublished in: IEEE Access (2023)
Keyphrases
- humanoid robot
- dual channel
- control system
- motion planning
- control law
- biologically inspired
- robotic manipulator
- multi modal
- human robot interaction
- degrees of freedom
- closed loop
- control strategy
- robotic arm
- control algorithm
- imitation learning
- manipulation tasks
- human robot
- real time
- motion capture
- human motion
- robot arm
- control scheme
- fully autonomous
- fuzzy control
- motor skills
- walking speed
- joint space
- path planning
- rough terrain
- nonlinear systems
- control method
- pose estimation
- body movements
- real environment
- visual servoing
- spatio temporal
- high dimensional