A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies.
Myeong-Ju KimDaegyu LimGyeongjae ParkJaeheung ParkPublished in: CoRR (2023)
Keyphrases
- formal model
- theoretical framework
- computational model
- unified model
- mathematical framework
- modeling framework
- main contribution
- bayesian framework
- theoretical foundation
- management system
- em algorithm
- probabilistic model
- prior knowledge
- statistical model
- objective function
- high level
- probability distribution
- mathematical model
- simulation model
- context dependent
- decision model
- bayesian networks
- social networks