Full-Body Optimal Control Toward Versatile and Agile Behaviors in a Humanoid Robot.
Koji IshiharaTakeshi D. ItohJun MorimotoPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- optimal control
- humanoid robot
- body movements
- real robot
- dynamic programming
- control problems
- motion planning
- sensory feedback
- multi modal
- control strategy
- human body
- human robot
- human robot interaction
- motion capture
- infinite horizon
- fully autonomous
- feedback control
- class of nonlinear systems
- control law
- reinforcement learning
- optimal control problems
- control theory
- human motion
- imitation learning
- pattern generator
- manipulation tasks
- machine learning
- neural network
- real time