A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments.
David GaldeanoAhmed ChemoriSébastien KrutPhilippe FraissePublished in: Int. J. Humanoid Robotics (2021)
Keyphrases
- humanoid robot
- joint space
- real time
- control system
- biologically inspired
- robot motion
- motion planning
- real time control
- data acquisition
- multi modal
- motor control
- dynamic environments
- vision system
- human robot interaction
- wheeled mobile robots
- human robot
- motion capture
- human motion
- three dimensional
- inverse kinematics
- motion control
- visual feedback
- robotic arm
- changing environment
- manipulation tasks
- steady state
- control loop
- reinforcement learning
- sensory feedback