Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach.
Sarah DegallierLudovic RighettiAuke Jan IjspeertPublished in: IROS (2007)
Keyphrases
- dynamical systems
- humanoid robot
- rough terrain
- quadruped robot
- legged locomotion
- motion planning
- legged robots
- biologically inspired
- differential equations
- multi modal
- nonlinear dynamical systems
- human robot interaction
- state space
- dynamical behavior
- phase space
- motion capture
- real robot
- degrees of freedom
- fully autonomous
- imitation learning
- nonlinear dynamics
- human robot
- three dimensional
- predictive state representations
- human motion
- joint space
- body movements
- autonomous navigation
- control law
- connectionist networks
- reinforcement learning methods
- nonlinear systems
- spatio temporal
- video sequences
- machine learning