A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots.
Giulio RomualdiStefano DafarraYue HuPrashanth RamadossFrancisco Javier Andrade ChavezSilvio TraversaroDaniele PucciPublished in: Int. J. Humanoid Robotics (2020)
Keyphrases
- humanoid robot
- joint space
- motion planning
- multi modal
- human robot interaction
- biologically inspired
- human robot
- imitation learning
- motion capture
- fully autonomous
- optical flow
- control algorithm
- walking speed
- motor control
- joint angles
- body movements
- position control
- robot motion
- position and orientation
- control scheme
- reinforcement learning
- computer vision