From Walking to Running: 3D Humanoid Gait Generation via MPC.
Filippo M. SmaldoneNicola SciancaLeonardo LanariGiuseppe OrioloPublished in: Frontiers Robotics AI (2022)
Keyphrases
- humanoid robot
- biped robot
- human gait
- walking speed
- gait patterns
- human walking
- motion capture
- legged robots
- gait recognition
- limit cycle
- gait analysis
- real time
- person identification
- motion planning
- biologically inspired
- control strategy
- human recognition
- gait features
- optimal control
- dynamic model
- degrees of freedom
- closed loop
- human body
- multi modal
- d objects
- moving objects
- genetic algorithm