Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot.
Michael A. HopkinsAlexander LeonessaBrian Y. LattimerDennis W. HongPublished in: Int. J. Humanoid Robotics (2016)
Keyphrases
- humanoid robot
- biologically inspired
- motion planning
- legged locomotion
- human robot interaction
- joint space
- multi modal
- fully autonomous
- human robot
- control system
- motor control
- imitation learning
- motion capture
- body movements
- robotic arm
- human motion
- motor learning
- learning algorithm
- control method
- real robot
- manipulation tasks
- motor skills
- state space
- robot behavior
- mobile robot