A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots.
Giulio RomualdiStefano DafarraYue HuPrashanth RamadossFrancisco Javier Andrade ChavezSilvio TraversaroDaniele PucciPublished in: CoRR (2019)
Keyphrases
- humanoid robot
- joint space
- biologically inspired
- motion planning
- multi modal
- motion capture
- optical flow
- angular velocity
- imitation learning
- human robot interaction
- joint angles
- human robot
- human motion
- position control
- control scheme
- control algorithm
- constant velocity
- body movements
- motor control
- motor skills
- walking speed
- high dimensional