Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control.
Donghyun KimSteven Jens JorgensenJaemin LeeJunhyeok AhnJianwen LuoLuis SentisPublished in: Int. J. Robotics Res. (2020)
Keyphrases
- legged robots
- humanoid robot
- quadruped robot
- legged locomotion
- robotic systems
- robot control
- rough terrain
- inverted pendulum
- mobile robot
- robot motion
- stability margin
- autonomous robots
- biped walking
- motion control
- biologically inspired
- vision system
- feedback control
- central pattern generator
- motion planning
- control strategy
- degrees of freedom
- dynamic environments
- multi modal
- human robot interaction
- unstructured environments
- multi robot
- biped robot
- real robot
- human robot
- path planning
- real time