Humanoid walking pattern generation based on model predictive control approximated with basis functions.
Ang ZhangIxchel Georgina Ramirez-AlpizarKevin Giraud-EsclasseOlivier StasseKensuke HaradaPublished in: Adv. Robotics (2019)
Keyphrases
- basis functions
- pattern generation
- model predictive control
- linear combination
- humanoid robot
- control system
- predictive control
- b spline
- motion planning
- cellular automaton
- matching pursuit
- signal reconstruction
- small number
- wavelet bases
- spherical harmonics
- nonlinear functions
- set of basis functions
- control law
- linear approximation
- closed loop
- expert systems
- control scheme
- neuro fuzzy
- control strategy
- degrees of freedom
- lookup tables
- series expansion
- cellular automata
- orthonormal basis