Humanoid Arm Motion Planning for Improved Disturbance Recovery Using Model Hierarchy Predictive Control
Charles Khazoom,Sangbae Kim,Charles Khazoom,Sangbae Kim
Humans noticeably swing their arms for balancing and locomotion. Although the underlying biomechanical mechanisms have been studied, it is unclear how robots can fully take advantage of these appendages. Most controllers that exploit arms for balance and locomotion rely on feedback and cannot anticipate incoming disturbances and future states. Model predictive controllers readily address these dra...
