Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion.
Stefano DafarraGiulio RomualdiDaniele PucciPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- humanoid robot
- robot motion
- motion planning
- legged locomotion
- rough terrain
- multi modal
- biologically inspired
- trajectory planning
- human robot interaction
- joint space
- mobile robot
- dynamic environments
- collision free
- fully autonomous
- motion capture
- degrees of freedom
- body movements
- motor control
- imitation learning
- motion primitives
- pattern generator
- walking speed
- object recognition
- motor skills
- human robot
- d objects
- spatio temporal
- viewpoint