Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control.

Stéphane Caron Abderrahmane Kheddar Olivier Tempier

Published in: ICRA (2019)

Keyphrases

humanoid robot
motion planning
legged locomotion
biologically inspired
human robot interaction
joint space
multi modal
imitation learning
motor control
fully autonomous
control system
human robot
robotic arm
motion capture
human motion
motor learning
walking speed
sensory feedback
real time
body movements