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Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation.
Robert J. Griffin
Alexander Leonessa
Published in:
Int. J. Humanoid Robotics (2019)
Keyphrases
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humanoid robot
model predictive control
motion planning
multi modal
control system
predictive control
human motion
rough terrain
space time
location information
pattern generator
motion estimation
fuzzy sets
motion analysis
human gait