Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment.
Giulio RomualdiStefano DafarraGiuseppe L'ErarioInes SorrentinoSilvio TraversaroDaniele PucciPublished in: ICRA (2022)
Keyphrases
- humanoid robot
- legged locomotion
- rough terrain
- motion planning
- biologically inspired
- multi modal
- walking speed
- fully autonomous
- robot motion
- human robot interaction
- real time
- motion capture
- body movements
- online learning
- voronoi diagram
- motor control
- human robot
- human motion
- imitation learning
- mobile robot
- high dimensional
- closed loop
- pattern generator
- joint space
- manipulation tasks
- degrees of freedom
- spatio temporal
- computer vision