Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators.
Yue HuKatja D. MombaurPublished in: IROS (2017)
Keyphrases
- optimal control
- humanoid robot
- human robot interaction
- control problems
- dynamic programming
- motion planning
- control strategy
- feedback control
- multi modal
- class of nonlinear systems
- reinforcement learning
- infinite horizon
- optimal control problems
- mathematical model
- human robot
- fully autonomous
- control law
- control system
- human motion
- imitation learning
- degrees of freedom
- body movements
- spatio temporal
- lyapunov function
- manipulation tasks
- walking speed