Real-time nonlinear model predictive footstep optimization for biped robots.
Robert WittmannArne-Christoph HildebrandtDaniel WahrmannDaniel RixenThomas BuschmannPublished in: Humanoids (2015)
Keyphrases
- humanoid robot
- nonlinear models
- real time
- motion planning
- control law
- human robot interaction
- multi modal
- linear model
- optimization algorithm
- human robot
- control algorithm
- real robot
- control strategy
- rough terrain
- imitation learning
- human motion
- closed loop
- control system
- linear models
- logistic regression
- decision support system