Whole-Body Balancing Walk Controller for Position Controlled Humanoid Robots.
Seung-Joon YiByoung-Tak ZhangDennis W. HongDaniel D. LeePublished in: Int. J. Humanoid Robotics (2016)
Keyphrases
- humanoid robot
- walking speed
- motion planning
- biped walking
- biologically inspired
- multi modal
- control system
- human robot
- closed loop
- random walk
- imitation learning
- human robot interaction
- fully autonomous
- motion capture
- real time
- motor control
- body movements
- disturbance rejection
- control law
- control algorithm
- control architecture
- joint space
- human motion
- real robot
- motor skills
- robot motion
- position and orientation
- control scheme
- control method