Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots.
Alphonsus Adu-BreduGrant GibsonJessy W. GrizzlePublished in: CoRR (2023)
Keyphrases
- humanoid robot
- motion planning
- mechanical systems
- robotic arm
- biologically inspired
- multi modal
- receding horizon
- control system
- joint space
- robot motion
- manipulation tasks
- motor control
- human robot interaction
- sensory feedback
- motion capture
- control strategy
- human motion
- human robot
- degrees of freedom
- fully autonomous
- body movements
- visual servoing
- control method
- walking speed
- mobile robot
- three dimensional