Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment.
Giulio RomualdiStefano DafarraGiuseppe L'ErarioInes SorrentinoSilvio TraversaroDaniele PucciPublished in: CoRR (2022)
Keyphrases
- humanoid robot
- legged locomotion
- rough terrain
- motion planning
- walking speed
- multi modal
- biologically inspired
- online learning
- robot motion
- mobile robot
- fully autonomous
- imitation learning
- manipulation tasks
- motion capture
- body movements
- motor control
- human robot
- motor skills
- human robot interaction
- real robot
- joint space
- closed loop
- state space
- high dimensional