A three-stage offline SDRE-based controller uses motion-capture data to achieve high-fidelity human motion reproduction on a suspended bipedal robot with average RMSE below 3 degrees for squatting and walking tasks.
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A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot
A three-stage offline SDRE-based controller uses motion-capture data to achieve high-fidelity human motion reproduction on a suspended bipedal robot with average RMSE below 3 degrees for squatting and walking tasks.