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Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.
Xiaobin Xiong
Aaron D. Ames
Published in:
IROS (2019)
Keyphrases
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humanoid robot
force control
robot manipulators
motion planning
reduced order model
motion capture
inverse kinematics
dynamic environments
closed loop
optimization algorithm
motion estimation
input output
optical flow
power system
human motion
image sequences
control scheme
control law