Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator.
Matteo Parigi PolveriniArturo LaurenziEnrico Mingo HoffmanFrancesco RuscelliNikos G. TsagarakisPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- humanoid robot
- motion planning
- joint space
- legged locomotion
- robotic arm
- biologically inspired
- multi modal
- motor control
- walking speed
- human robot
- motion capture
- control system
- configuration space
- d objects
- manipulation tasks
- control law
- motor skills
- rough terrain
- fully autonomous
- imitation learning
- focus of attention
- robot manipulators
- robotic systems
- control strategy
- planning problems
- degrees of freedom
- pose estimation
- state space