Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives.
Robert D. GreggAdam K. TiltonSalvatore CandidoTimothy BretlMark W. SpongPublished in: IEEE Trans. Robotics (2012)
Keyphrases
- biped robot
- legged robots
- human gait
- inverted pendulum
- control system
- control strategy
- biologically inspired
- quadruped robot
- dynamic environments
- legged locomotion
- control rules
- human identification
- limit cycle
- dynamic response
- control method
- optimal control
- heuristic search
- mobile robot
- reinforcement learning
- human movement
- action selection
- gait recognition
- control loop
- motion capture
- changing environment
- human walking
- gait patterns
- lower extremity