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Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4

Cornelius Goldbeck, Lukas Kaul, Nikolaus Vahrenkamp, Florentin Wörgötter, Tamim Asfour, Jan-Matthias Braun. Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4. In 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016. pages 966-972, IEEE, 2016. [doi]

Authors

Cornelius Goldbeck

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Lukas Kaul

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Nikolaus Vahrenkamp

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Florentin Wörgötter

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Tamim Asfour

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Jan-Matthias Braun

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