Robust walking stabilization strategy of humanoid robots on uneven terrain via QP-based impedance/admittance control.
Joonhee JoGyunghoon ParkYonghwan OhPublished in: Robotics Auton. Syst. (2022)
Keyphrases
- humanoid robot
- legged locomotion
- rough terrain
- walking robot
- motion planning
- legged robots
- biologically inspired
- multi modal
- motor control
- quadruped robot
- joint space
- walking speed
- imitation learning
- control system
- linear programming
- control method
- three dimensional
- wheeled mobile robots
- sensory feedback
- body movements
- quadratic programming
- human motion
- support vector machine
- image sequences