Online Hierarchical Optimization for Humanoid Control
This thesis presents an online approach for controlling humanoid robots using hierarchical optimization. While our primary focus is to develop a fast and robust walking controller that is able to follow desired foot steps, full body manipulation capability is also achieved. The proposed hierarchical...
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| Format: | Others |
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Research Showcase @ CMU
2016
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| Online Access: | http://repository.cmu.edu/dissertations/822 http://repository.cmu.edu/cgi/viewcontent.cgi?article=1861&context=dissertations |