Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.
Xiaobin XiongAaron D. AmesPublished in: CoRR (2019)
Keyphrases
- humanoid robot
- force control
- motion capture
- robot manipulators
- reduced order model
- motion planning
- optimization algorithm
- input output
- human motion
- image sequences
- control strategy
- optical flow
- dynamic characteristics
- neural network
- degrees of freedom
- control law
- controller design
- computer vision
- inverse kinematics
- real time