Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control.
Milad Shafiee-AshtianiAghil Yousefi-KomaReihaneh MirjaliliHessam MalekiMojtaba KarimiPublished in: CoRR (2017)
Keyphrases
- feedback control
- humanoid robot
- closed loop
- optimal control
- motion planning
- adaptive control
- multi modal
- biologically inspired
- open loop
- inverted pendulum
- human robot interaction
- fully autonomous
- rough terrain
- human robot
- motion capture
- joint space
- networked control systems
- autonomous control
- imitation learning
- linear time invariant
- head movements
- control theory
- nonlinear systems
- dynamic programming
- manipulation tasks
- body movements
- real robot
- moving objects