3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation.
Tomomichi SugiharaKenta ImanishiTakanobu YamamotoStéphane CaronPublished in: ICRA (2021)
Keyphrases
- biped robot
- control theory
- humanoid robot
- legged robots
- legged locomotion
- control strategy
- inverted pendulum
- biped walking
- robot control
- central pattern generator
- control parameters
- control law
- control system
- manipulation tasks
- rough terrain
- mobile robot
- robotic systems
- robot motion
- data sets
- control method
- biologically inspired
- control algorithm
- feedback control
- state space
- image sequences
- walking robot