Article

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

2017-12-15

Abstract excerpt

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 respect to certain criteria, in this work we present an optimal control based approach that allows us to generate optimize...

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Literature Corpus work: 469fb430-e9b3-5d91-aceb-5554ccdd5432
DOI: 10.20944/preprints201712.0099.v1

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