Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum.
Shunpeng YangHua ChenLuyao ZhangZhefeng CaoPatrick M. WensingYizhang LiuJianxin PangWei ZhangPublished in: ICRA (2021)
Keyphrases
- inverted pendulum
- humanoid robot
- feedback control
- simulation study
- motion planning
- biologically inspired
- nonlinear systems
- intelligent control
- multi modal
- fuzzy controller
- initial conditions
- evolutionary neural networks
- control algorithm
- human robot interaction
- human motion
- state space
- mobile robot
- fuzzy systems
- adaptive control
- motor skills
- sagittal plane
- optimal control
- reinforcement learning
- input output
- human body
- real robot
- dynamic environments
- markov chain
- knowledge base
- decision making
- neural network