Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models
Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respe...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2076-3417/8/2/278 |