3D limit cycle walking of musculoskeletal humanoid robot with flat feet.
Kenichi NariokaShinpei TsugawaKoh HosodaPublished in: IROS (2009)
Keyphrases
- humanoid robot
- walking speed
- limit cycle
- multi modal
- motion planning
- disturbance rejection
- steady state
- neural model
- human robot interaction
- biologically inspired
- control scheme
- motion capture
- human robot
- fully autonomous
- human motion
- biped robot
- body parts
- feed forward
- human body
- body movements
- control loop
- neural network
- legged locomotion
- real robot
- control algorithm
- virtual environment
- multi objective
- genetic algorithm