Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots.
Alphonsus Adu-BreduGrant GibsonJessy GrizzlePublished in: IROS (2023)
Keyphrases
- humanoid robot
- motion planning
- mechanical systems
- robotic arm
- multi modal
- biologically inspired
- human robot interaction
- control system
- receding horizon
- control method
- motor control
- motion capture
- fully autonomous
- manipulation tasks
- robot motion
- degrees of freedom
- human robot
- control strategy
- control law
- joint space
- body movements
- three dimensional
- control signals
- sensory feedback
- motor skills
- visual servoing
- real robot
- control algorithm
- human motion