Versatile Locomotion Planning and Control for Humanoid Robots

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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Bibliographic Details
Main Authors: Junhyeok Ahn, Steven Jens Jorgensen, Seung Hyeon Bang, Luis Sentis
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-08-01
Series:Frontiers in Robotics and AI
Subjects:
humanoid robots
locomotion
trajectory optimization
whole body control
open source software
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.712239/full

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