Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion.
David GaldeanoAhmed ChemoriSébastien KrutPhilippe FraissePublished in: SSD (2014)
Keyphrases
- humanoid robot
- control theory
- real time
- motion planning
- multi modal
- motion patterns
- biologically inspired
- control system
- control signals
- robot motion
- motion capture
- human robot interaction
- control loop
- human robot
- walking speed
- joint space
- human motion
- motor control
- control method
- object recognition
- visual feedback
- motion control
- imitation learning
- image sequences