OpenSoT: A whole-body control library for the compliant humanoid robot COMAN.

Alessio Rocchi Enrico Mingo Hoffman Darwin G. Caldwell Nikos G. Tsagarakis

Published in: ICRA (2015)

Keyphrases

humanoid robot
legged locomotion
motion planning
biologically inspired
multi modal
joint space

motor control
human robot interaction
fully autonomous
motor learning
sensory feedback
walking speed

motor skills
manipulation tasks
body movements
real time
human motion

learning algorithm
human robot
control method
mobile robot
spatio temporal