On the Walking Control for Humanoid Robot based on the Kinematic Resolution of CoM Jacobian with Embedded Motion.
Youngjin ChoiDoik KimBum-Jae YouPublished in: ICRA (2006)
Keyphrases
- humanoid robot
- joint space
- robot motion
- motion planning
- multi modal
- legged locomotion
- biologically inspired
- motion capture
- kinematic model
- fully autonomous
- motor control
- human robot interaction
- inverse kinematics
- walking speed
- wheeled mobile robots
- human motion
- control method
- human robot
- control system
- body movements
- control strategy
- configuration space
- mechanical systems
- imitation learning
- motor skills
- sensory feedback
- robotic arm
- end effector
- real robot
- robot arm
- joint angles
- computer vision
- inverted pendulum
- image sequences