Online learning of a full body push recovery controller for omnidirectional walking.
Seung-Joon YiByoung-Tak ZhangDennis W. HongDaniel D. LeePublished in: Humanoids (2011)
Keyphrases
- online learning
- biped walking
- biped robot
- limit cycle
- central pattern generator
- walking speed
- human body
- e learning
- higher education
- disturbance rejection
- online course
- control system
- distance education
- humanoid robot
- computer mediated
- real time
- mobile robot
- body parts
- control algorithm
- legged robots
- controller design
- active learning
- vision system
- omnidirectional images
- blended learning
- control strategy
- closed loop
- control architecture
- neural model
- human gait
- control method
- human walking
- stereo vision
- online algorithms
- inverted pendulum
- pid controller
- upper body
- vision sensor
- reference trajectory
- steady state