Online Center of Mass and Momentum Estimation for a Humanoid Robot Based on Identification of Inertial Parameters.
Kenya MoriKo AyusawaEiichi YoshidaPublished in: Humanoids (2018)
Keyphrases
- humanoid robot
- walking speed
- maximum likelihood estimation
- parameter estimation
- motion planning
- biologically inspired
- online learning
- multi modal
- parametric models
- estimation process
- maximum likelihood
- parameter identification
- angular velocity
- human robot interaction
- body movements
- human robot
- fully autonomous
- real time
- pattern generator
- motion capture
- expectation maximization
- joint space
- imitation learning
- control scheme