Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot.
Stefano DafarraFrancesco RomanoFrancesco NoriPublished in: CoRR (2017)
Keyphrases
- humanoid robot
- human robot interaction
- walking speed
- controller synthesis
- motion planning
- real robot
- biped walking
- biologically inspired
- multi modal
- control system
- fully autonomous
- motion capture
- real time
- joint space
- neural network controller
- control method
- motor control
- human robot
- imitation learning
- optimal control
- cognitive architecture
- body movements
- manipulation tasks
- human motion
- closed loop