Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting.
Sean MasonLudovic RighettiStefan SchaalPublished in: Humanoids (2014)
Keyphrases
- humanoid robot
- optimal control
- motion planning
- legged locomotion
- multi modal
- biologically inspired
- motor learning
- motor control
- human robot
- air fuel ratio
- human robot interaction
- fully autonomous
- dynamic model
- pattern generator
- body movements
- dc dc converter
- walking speed
- control system
- joint space
- motion capture
- inverted pendulum
- real robot
- control method
- object recognition