Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study.
Sait SovuklukJohannes EnglsbergerChristian OttPublished in: IROS (2023)
Keyphrases
- humanoid robot
- joint space
- case study
- motion planning
- robot motion
- multi modal
- wheeled mobile robots
- biologically inspired
- motion capture
- kinematic model
- control system
- human robot interaction
- imitation learning
- motor skills
- human robot
- master slave
- parallel processing
- motor control
- mechanical systems
- degrees of freedom
- body movements
- real world
- sensory feedback
- control method
- fully autonomous
- robot control
- walking speed
- manipulation tasks
- inverse kinematics
- control algorithm
- human motion
- dynamic environments
- computer vision