Adaptive torque-based control of a humanoid robot on an unstable platform.
Stuart O. AndersonJessica K. HodginsPublished in: Humanoids (2010)
Keyphrases
- humanoid robot
- joint space
- motion planning
- control strategy
- multi modal
- biologically inspired
- legged locomotion
- adaptive control
- motor control
- induction motor
- control algorithm
- human motion
- human robot
- human robot interaction
- real time
- body movements
- external forces
- imitation learning
- control system
- control method
- degrees of freedom
- feedback loop
- fully autonomous
- manipulation tasks
- motor skills
- fuzzy logic controller
- motor learning
- rough terrain
- dynamic model