Robust feedback control of ZMP-based gait for the humanoid robot Nao.
Juan José Alcaraz-JiménezDavid Herrero PérezHumberto Martínez BarberáPublished in: Int. J. Robotics Res. (2013)
Keyphrases
- humanoid robot
- feedback control
- control theory
- walking speed
- long time delay
- motion capture
- motion planning
- biologically inspired
- multi modal
- optimal control
- closed loop
- adaptive control
- human robot interaction
- fully autonomous
- open loop
- human robot
- imitation learning
- networked control systems
- autonomous control
- human motion
- body movements
- real robot
- joint space
- pattern generator
- inverted pendulum