Lyapunov-Stable Orientation Estimator for Humanoid Robots.
Mehdi BenallegueRafael CisnerosAbdelaziz BenallegueYacine ChitourMitsuharu MorisawaFumio KanehiroPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- humanoid robot
- control theory
- motion planning
- walking speed
- equilibrium point
- biologically inspired
- multi modal
- control law
- maximum likelihood
- motion capture
- human robot interaction
- joint space
- stability analysis
- least squares
- dynamical systems
- fully autonomous
- human robot
- body movements
- asymptotic stability
- class of nonlinear systems
- motor control
- nonlinear systems
- imitation learning
- sufficient conditions
- neural network
- motor skills
- position and orientation
- human motion
- maximum a posteriori
- three dimensional