Motion planning of a robot in real-time based on the general model of humanoid robots

Abstract

Humanoid robots are the most illustrative representatives of complex cyber-physical systems. They are high-dimensional and highly coupled non-linear systems. Moreover, walking humanoid robots are underactuated with friction-limited unilateral contacts with the ground. These facts justify the need for hard real-time control of a robot's motion. Even the… (More)
DOI: 10.1109/SISY.2016.7601514

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