An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots.
Katja D. MombaurJean-Paul LaumondEiichi YoshidaPublished in: Adv. Robotics (2010)
Keyphrases
- optimal control
- humanoid robot
- control problems
- motion planning
- feedback control
- control strategy
- dynamic programming
- risk sensitive
- class of nonlinear systems
- infinite horizon
- human robot interaction
- multi modal
- brownian motion
- reinforcement learning
- human motion
- motor control
- lyapunov function
- motion patterns
- control law
- optimal control problems
- degrees of freedom
- human body
- objective function
- data mining