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Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization.
Mohamed Elobaid
Giulio Romualdi
Gabriele Nava
Lorenzo Rapetti
Hosameldin Awadalla Omer Mohamed
Daniele Pucci
Published in:
ICRA (2023)
Keyphrases
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humanoid robot
walking speed
motion planning
online learning
human robot interaction
real time
multi modal
human motion
biologically inspired
imitation learning
force feedback
contact force
motion capture
motor skills
joint space