Impedance Control of Humanoid Walking on Uneven Terrain With Centroidal Momentum Dynamics Using Quadratic Programming.
Joonhee JoYonghwan OhPublished in: IROS (2020)
Keyphrases
- quadratic programming
- impedance control
- humanoid robot
- manipulation tasks
- linear programming
- motion planning
- force control
- support vector machine
- motor control
- multi modal
- learning rate
- degrees of freedom
- optimal control
- ls svm
- human robot interaction
- dynamical systems
- model free
- computer vision
- dynamic model
- data fusion
- objective function