Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback.
Shuuji KajitaKazuhito YokoiMuneharu SaigoKazuo TaniePublished in: ICRA (2001)
Keyphrases
- humanoid robot
- joint space
- motor skills
- legged locomotion
- feedback loop
- biologically inspired
- motion planning
- multi modal
- control strategy
- control system
- sensory feedback
- control method
- motor learning
- learning rate
- imitation learning
- visual feedback
- human robot interaction
- induction motor
- control strategies
- robot arm
- walking speed
- motion capture
- control algorithm
- pattern generator
- external forces
- fully autonomous
- visual servoing
- robotic arm
- body movements
- inverted pendulum
- real time
- robot control
- human operators
- human motion
- computer vision