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Versatile Locomotion Planning and Control for Humanoid Robots

We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (IHWBC). For versatility, we consider the use of a...

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Detalles Bibliográficos
Autores principales:	Ahn, Junhyeok, Jorgensen, Steven Jens, Bang, Seung Hyeon, Sentis, Luis
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Frontiers Media S.A. 2021
Materias:	Robotics and AI
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8414409/ https://www.ncbi.nlm.nih.gov/pubmed/34485391 http://dx.doi.org/10.3389/frobt.2021.712239

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