Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot.
Fabio BergontiLuca FiorioDaniele PucciPublished in: ICRA (2019)
Keyphrases
- humanoid robot
- human robot interaction
- joint space
- motion planning
- multi modal
- biologically inspired
- human robot
- rough terrain
- legged locomotion
- fully autonomous
- service robots
- body movements
- motor skills
- real robot
- motion capture
- control system
- manipulation tasks
- imitation learning
- control law
- gesture recognition
- control strategy
- evolutionary robotics
- markov chain
- motor control
- walking speed