2017
COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2
Debora Clever, Monika Harant, Katja D. Mombaur, Maximilien Naveau, Olivier Stasse, Dominik M. Endres
RA-L 2017
COCoMoPL is a recently developed approach combining optimal control, movement primitives and learning for the generation of humanoid walking motions (Clever et al. Robot. Auton. Syst., vol. 83, pp. 287.298, 2016). It solves optimal control problems based on detailed dynamic models of the robot for a