Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
— We present adaptive admittance control of a robotic manipulator, with uncertain dynamic parameters, operating in a constrained task space. To provide compliance to external for...
Feedback Control for Character Animation Using an Abstract Model Yuting Ye C. Karen Liu Georgia Institute of Technology∗ Real-time adaptation of a motion capture sequence to vir...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...