Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots.
Daniele PucciGabriele NavaFrancesco NoriPublished in: CoRR (2016)
Keyphrases
- humanoid robot
- motion planning
- walking speed
- biologically inspired
- human robot interaction
- control system
- learning rate
- biped walking
- multi modal
- semi automatic
- parameter tuning
- motion capture
- optimal control
- closed loop
- neural network
- adaptive control
- fuzzy logic controller
- real robot
- motor skills
- imitation learning
- fully autonomous
- viewpoint