Using zero moment point preview control formulation to generate nonlinear trajectories of walking patterns on humanoid robots.
Yunn-Lin HwangThi-Na TaKun-Nan ChenPublished in: Int. J. Embed. Syst. (2018)
Keyphrases
- humanoid robot
- motion patterns
- legged locomotion
- motion planning
- biologically inspired
- multi modal
- human robot
- human robot interaction
- control system
- joint space
- imitation learning
- motor control
- walking speed
- highly nonlinear
- motor skills
- robot motion
- trajectory data
- visual servoing
- real robot
- adaptive control
- mobile robot
- three dimensional