Enhancing the Force Transparency of Time Domain Passivity Approach: Observer-Based Gradient Controller.

Harsimran Singh Aghil Jafari Jee-Hwan Ryu

Published in: ICRA (2019)

Keyphrases

impedance control
force control
model free
optimal control
frequency domain
manipulation tasks
edge detection
contact force
position control
robot manipulators
policy gradient
robotic manipulator
gradient information
feature extraction
sliding mode
control strategy
multiscale