Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+.
Francesco RuscelliArturo LaurenziEnrico Mingo HoffmanNikos G. TsagarakisPublished in: IROS (2019)
Keyphrases
- humanoid robot
- pattern generator
- walking speed
- biped walking
- motion planning
- multi modal
- biologically inspired
- human robot interaction
- virtual world
- imitation learning
- human robot
- motion capture
- motor skills
- human motion
- legged locomotion
- closed loop
- virtual reality
- fully autonomous
- control method
- real time
- control algorithm
- virtual environment
- reinforcement learning