Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot.
Fabio BergontiLuca FiorioDaniele PucciPublished in: CoRR (2022)
Keyphrases
- humanoid robot
- human robot interaction
- human robot
- motion planning
- multi modal
- joint space
- biologically inspired
- manipulation tasks
- motion capture
- fully autonomous
- motor skills
- imitation learning
- control law
- walking speed
- body movements
- human motion
- markov chain
- three dimensional
- reinforcement learning
- legged locomotion
- position control
- rough terrain
- robot arm
- real robot
- cognitive architecture
- spatio temporal