Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks.
Firas Abi-FarrajBernd HenzeChristian OttPaolo Robuffo GiordanoMáximo A. RoaPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- humanoid robot
- human robot interaction
- human robot
- joint space
- motion planning
- manipulation tasks
- biologically inspired
- multi modal
- real robot
- service robots
- robotic systems
- robot arm
- walking speed
- fully autonomous
- contact force
- motor control
- motion capture
- human computer interaction
- control algorithm
- degrees of freedom
- imitation learning
- position control
- object recognition
- reinforcement learning