Computationally Affordable Hierarchical Framework for Humanoid Robot Control
Koji Ishihara,Jun Morimoto,Koji Ishihara,Jun Morimoto
We propose a hierarchical control framework for generating versatile motions by a humanoid robot. The central feature of our framework is computational affordability: a large amount of computation time is allowable in the upper-level hierarchy. Consequently, whole-body trajectory optimization for a long time horizon becomes feasible. To ensure such affordability, a fast feedback loop is establishe...
