QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot.
Rafael CisnerosMehdi BenallegueMitsuharu MorisawaFumio KanehiroPublished in: Humanoids (2019)
Keyphrases
- humanoid robot
- joint space
- motion planning
- end effector
- biologically inspired
- robot motion
- multi modal
- legged locomotion
- motor control
- human robot interaction
- motion capture
- imitation learning
- human robot
- force feedback
- fully autonomous
- position control
- robot arm
- degrees of freedom
- configuration space
- body movements
- control system
- control algorithm
- walking speed
- vision system
- sensory feedback
- control signals
- image sequences
- robotic arm
- master slave
- inverse kinematics
- head movements
- control strategy
- space time
- moving objects
- video sequences