Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity.
Enrico Mingo HoffmanAntonio PaolilloPublished in: ICRA (2021)
Keyphrases
- motion control
- visual servoing
- humanoid robot
- motion planning
- mobile robot
- control law
- vision system
- image based visual servoing
- robot control
- camera motion
- real robot
- multi modal
- visual feedback
- end effector
- learning rate
- image space
- human motion
- autonomous robots
- computer vision
- robot motion
- control algorithm
- real time
- path planning
- euclidean distance
- distance measure
- d objects
- face recognition
- learning algorithm
- real world