Human motion tracking control with strict contact force constraints for floating-base humanoid robots

IEEE-RAS International Conference on Humanoid Robots

Volumn 2015-February, Issue February, 2015, Pages 34-41

  Zheng, Yu ^a   Yamane, Katsu ^b  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

^b DISNEY RESEARCH   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLERS; FRICTION; MOTION ANALYSIS; NONLINEAR PROGRAMMING; TORQUE;

COMPLEX CONSTRAINTS; DYNAMICS SIMULATION; HUMAN MOTION CAPTURE DATA; HUMAN MOTION TRACKING; NON-LINEAR OPTIMIZATION PROBLEMS; SEQUENTIAL OPTIMIZATION; TECHNICAL CHALLENGES; TRACKING CONTROLLER;

ANTHROPOMORPHIC ROBOTS;

EID: 84937957424     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2013.7029952     Document Type: Conference Paper

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