Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot.
Erman SelimMusa AlciMert AltintasPublished in: Robotica (2022)
Keyphrases
- humanoid robot
- walking robot
- reference trajectory
- autonomous robots
- robot motion
- closed loop
- legged robots
- biped robot
- mobile robot
- robot control
- control law
- trajectory tracking
- robotic arm
- visual servoing
- hand eye
- motion control
- inverted pendulum
- lower extremity
- control system
- human robot interaction
- legged locomotion
- motion planning
- robotic systems
- trajectory planning
- control architecture
- multi modal
- walking speed
- interval analysis
- optimization algorithm
- motor learning
- control signals
- collision free
- robot manipulators
- control algorithm
- control method
- end effector
- changing environment
- vision system
- human operators
- biped walking
- home environment
- force feedback
- force control
- constrained optimization
- dynamic environments
- optimization problems
- neural network