Whole body motion controller with long-term balance constraints.
Alexander SherikovDimitar DimitrovPierre-Brice WieberPublished in: Humanoids (2014)
Keyphrases
- long term
- motion control
- physical constraints
- humanoid robot
- geometrical constraints
- short term
- human motion
- optical flow
- motion model
- temporal continuity
- motion estimation
- control system
- neural network
- motion analysis
- motion tracking
- real time
- control algorithm
- motion field
- motion segmentation
- moving objects
- image sequences
- closed loop
- image measurements
- space time
- multibody
- walking speed
- quadruped robot
- linear constraints
- constrained optimization
- geometric constraints
- control scheme
- motion detection
- motion parameters
- dynamic model