I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C.
Felix AllerMonika HarantSebastian SontagMatthew MillardKatja D. MombaurPublished in: IROS (2021)
Keyphrases
- step size
- humanoid robot
- walking speed
- cost function
- convergence rate
- motion planning
- multi modal
- convergence speed
- simulated annealing
- steepest descent method
- fully autonomous
- human robot
- faster convergence
- variable step size
- human motion
- stability analysis
- gradient method
- joint space
- human robot interaction
- imitation learning
- stochastic gradient descent
- multiscale
- wavelet coefficients
- multiresolution
- high dimensional
- video sequences
- quantization step
- face recognition