Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion.
Jessy W. GrizzleChristine ChevallereauPublished in: CoRR (2017)
Keyphrases
- degrees of freedom
- receding horizon
- constraint satisfaction
- physical constraints
- dynamical systems
- mobile robot
- robot control
- motion planning
- initial conditions
- virtual environment
- virtual world
- virtual reality
- data sets
- closed loop
- genetic algorithm
- dynamic model
- linear constraints
- highly nonlinear
- constraint programming
- hybrid approaches
- constrained optimization
- path planning
- multi modal
- image sequences
- social networks
- neural network