Humanoid robot runs up-down stairs using zero-moment with supporting polygons control.
Li-Hong JuangPublished in: Multim. Tools Appl. (2023)
Keyphrases
- humanoid robot
- legged locomotion
- motion planning
- biologically inspired
- joint space
- human robot interaction
- multi modal
- human robot
- control system
- pattern generator
- rough terrain
- motor control
- imitation learning
- control method
- human motion
- human body
- fully autonomous
- inverted pendulum
- walking speed
- manipulation tasks
- mobile robot