A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots.
Stefano DafarraGabriele NavaMarie CharbonneauNuno GuedelhaFrancisco AndradeSilvio TraversaroLuca FiorioFrancesco RomanoFrancesco NoriGiorgio MettaDaniele PucciPublished in: IROS (2018)
Keyphrases
- humanoid robot
- control architecture
- motion planning
- position control
- control strategy
- multi modal
- biologically inspired
- joint space
- robotic systems
- control system
- legged locomotion
- autonomous agents
- robot arm
- online learning
- control algorithm
- walking speed
- human robot interaction
- human motion
- motion capture
- mathematical model
- control scheme
- gaze control
- body movements
- motor skills
- shop floor
- force control
- control law
- manipulation tasks
- distributed control
- dynamic model
- degrees of freedom
- real time
- biped walking
- induction motor
- path planning
- mobile robot
- object recognition
- cooperative