Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach.
Salman FarajiSoha PouyaChristopher G. AtkesonAuke Jan IjspeertPublished in: ICRA (2014)
Keyphrases
- humanoid robot
- model predictive control
- motion planning
- multi modal
- biologically inspired
- human robot interaction
- legged locomotion
- real robot
- human robot
- walking speed
- human motion
- mr images
- predictive control
- rough terrain
- fully autonomous
- three dimensional
- dynamical systems
- feature points
- imitation learning
- joint space
- reinforcement learning