Capture-point based balance and reactive omnidirectional walking controller.

Michael Bombile Aude Billard

Published in: Humanoids (2017)

Keyphrases

biped walking
biped robot
limit cycle
real time
control system
mobile robot
disturbance rejection
neural network
legged robots
control strategy
stereo vision
vision system
control scheme
fuzzy controller
controller design
control algorithm
field of view