Lyapunov-Stable Orientation Estimator for Humanoid Robots.
Mehdi BenallegueRafael CisnerosAbdelaziz BenallegueYacine ChitourMitsuharu MorisawaFumio KanehiroPublished in: CoRR (2020)
Keyphrases
- humanoid robot
- control theory
- walking speed
- motion planning
- equilibrium point
- biologically inspired
- least squares
- multi modal
- human robot interaction
- control law
- maximum likelihood
- adaptive control
- stability analysis
- motion capture
- control scheme
- human motion
- human robot
- imitation learning
- fully autonomous
- exponential stability
- position and orientation
- dynamical systems
- asymptotic stability
- sufficient conditions
- closed loop
- motor control
- human computer interaction
- manipulation tasks
- reinforcement learning
- class of nonlinear systems
- steady state
- hidden markov models
- spatio temporal