Graceful Transitions between Periodic Walking Gaits of Fully Actuated Bipedal Robots.
Vishal MuraliNak-seung Patrick HyunErik I. VerriestPublished in: ACC (2020)
Keyphrases
- humanoid robot
- walking speed
- limit cycle
- legged robots
- human robot interaction
- motion planning
- multi modal
- human robot
- steady state
- human motion
- real robot
- disturbance rejection
- manipulation tasks
- mobile robot
- neural model
- control law
- quadruped robot
- open loop
- rough terrain
- control scheme
- state transitions
- inverted pendulum
- gait recognition
- multi robot