Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking.
Johannes EnglsbergerChristian OttPublished in: Humanoids (2012)
Keyphrases
- point tracking
- optical flow
- motion control
- motion estimation
- motion analysis
- image sequences
- human motion
- camera motion
- closed loop
- control system
- inter frame
- control signals
- motion model
- space time
- control method
- fourier domain
- mobile robot
- computer vision
- image quality
- optimal control
- humanoid robot
- learning rate
- motion planning
- adaptive control
- data structure
- computational complexity