Unified Balance Control for Biped Robots Including Modification of Footsteps with Angular Momentum and Falling Detection Based on Capturability.
Yuta KojioYasuhiro IshiguroKim-Ngoc-Khanh NguyenFumihito SugaiYohei KakiuchiKei OkadaMasayuki InabaPublished in: IROS (2019)
Keyphrases
- legged locomotion
- humanoid robot
- control strategy
- robotic systems
- robot control
- inverted pendulum
- mobile robot
- legged robots
- control parameters
- motion planning
- human robot interaction
- control system
- autonomous robots
- learning rate
- control method
- human robot
- multi modal
- robot teams
- intelligent control
- imitation learning
- robot behavior
- biped robot
- reinforcement learning
- quadruped robot