Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain

DOI10.1002/oca.2099zbMath1305.93149OpenAlexW2145765739MaRDI QIDQ2935214

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Publication date: 22 December 2014

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/1969.1/155150

zbMATH Keywords

motion planninghuman-inspired optimal controlhybrid robotic systemsstair climbing

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (1)

A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control

Cites Work

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• Predictive dynamics: an optimization-based novel approach for human motion simulation
• Tracking control: performance funnels and prescribed transient behaviour
• Simulating Prosthetic Gait - Lessons to Learn
• Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
• Optimization-based dynamic human walking prediction: One step formulation
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Hybrid zero dynamics of planar biped walkers

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