Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control.
Donghyun KimSteven Jens JorgensenJaemin LeeJunhyeok AhnJianwen LuoLuis SentisPublished in: CoRR (2019)
Keyphrases
- humanoid robot
- legged robots
- legged locomotion
- quadruped robot
- robot control
- robotic systems
- inverted pendulum
- mobile robot
- rough terrain
- robot motion
- stability margin
- unstructured environments
- dynamic environments
- biped walking
- biologically inspired
- multi modal
- motion planning
- human robot interaction
- autonomous robots
- degrees of freedom
- control strategy
- multi robot
- control law
- biped robot
- vision system
- control system
- intelligent control
- disturbance rejection
- lower extremity
- manipulation tasks
- motion control
- feedback control
- nonlinear systems
- pid controller
- control method
- reinforcement learning
- human robot
- visual servoing
- control algorithm
- path planning
- neural network