A step towards generating human-like walking gait via trajectory optimization through contact for a bipedal robot with one-sided springs on toes.
Kenneth Y. ChaoPilwon HurPublished in: IROS (2017)
Keyphrases
- walking speed
- humanoid robot
- human robot interaction
- biped robot
- gait recognition
- gait patterns
- legged robots
- motion planning
- limit cycle
- biologically inspired
- optimization problems
- trajectory planning
- motion capture
- multi modal
- optimization algorithm
- feedback loop
- robot motion
- mobile robot
- human motion
- collision free
- service robots
- human gait
- human recognition
- gait analysis
- dynamic environments
- rough terrain
- human walking
- human identification
- vision system
- trajectory data