Anthropomorphic movement analysis and synthesis: A survey of methods and applications
The anthropomorphic body form is a complex articulated system of links/limbs and joints,
simultaneously redundant and underactuated, and capable of a wide range of sophisticated …
simultaneously redundant and underactuated, and capable of a wide range of sophisticated …
Cocomopl: A novel approach for humanoid walking generation combining optimal control, movement primitives and learning and its transfer to the real robot HRP-2
COCoMoPL is a recently developed approach combining optimal control, movement
primitives and learning for the generation of humanoid walking motions (Clever et al. Robot …
primitives and learning for the generation of humanoid walking motions (Clever et al. Robot …
Combining reduced dynamics models and whole-body control for agile humanoid locomotion
J Englsberger - 2016 - mediatum.ub.tum.de
Bipedal locomotion is a difficult control problem due to issues such as underactuation,
unilateral constraints and the hybrid nature of stepping. In this work, using the reduced …
unilateral constraints and the hybrid nature of stepping. In this work, using the reduced …
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
Modern humanoid robots include not only active compliance but also passive compliance.
Apart from improved safety and dependability, availability of passive elements, such as …
Apart from improved safety and dependability, availability of passive elements, such as …
A novel approach for the generation of complex humanoid walking sequences based on a combination of optimal control and learning of movement primitives
We combine optimal control and movement primitive learning in a novel way for the fast
generation of humanoid walking movements and demonstrate our approach at the example …
generation of humanoid walking movements and demonstrate our approach at the example …
[HTML][HTML] 基于动态系统的机器人模仿学习方法研究
于建均， 姚红柯， 左国玉， 阮晓钢， 安硕 - 智能系统学报, 2019 - html.rhhz.net
针对当前机器人模仿学习过程中, 运动模仿存在无法收敛到目标点以及泛化能力差的问题,
引入一种基于动态系统(dynamical system, DS) 的模仿学习方法. 该方法通过高斯混合模型 …
引入一种基于动态系统(dynamical system, DS) 的模仿学习方法. 该方法通过高斯混合模型 …
Making the coupled Gaussian process dynamical model modular and scalable with variational approximations
We describe a sparse, variational posterior approximation to the Coupled Gaussian Process
Dynamical Model (CGPDM), which is a latent space coupled dynamical model in discrete …
Dynamical Model (CGPDM), which is a latent space coupled dynamical model in discrete …
Joint torque analysis of push recovery motions during human walking
RM Schemschat, D Clever, ML Felis… - 2016 6th IEEE …, 2016 - ieeexplore.ieee.org
Most of their lifetime humans can recover from disturbances during walking motions very
well. Our assumption is that to recover from disturbances during walking requires higher …
well. Our assumption is that to recover from disturbances during walking requires higher …
Optimal push recovery for periodic walking motions
We study how humans performing periodic walking motions react to strong perturbations
that are applied in form of pushes from behind. We propose a computational method that …
that are applied in form of pushes from behind. We propose a computational method that …
[PDF][PDF] Assessment of Machine Learning of Optimal Solutions for Robotic Walking
RM Carnier, Y Fujimoto - Int. J. Mech. Eng. Robot. Res, 2021 - researchgate.net
The generation of optimal solutions for robotic bipedal walking using whole-body dynamics
is well known to have a big computational cost, preventing online trajectory generation for …
is well known to have a big computational cost, preventing online trajectory generation for …