Second order matrix sensitivity analysis of force-based impedance control for leg hydraulic drive system.
Kaixian BaBin YuQixin ZhuZhengjie GaoGuoliang MaZhengguo JinXiangdong KongPublished in: Robotics Auton. Syst. (2019)
Keyphrases
- sensitivity analysis
- impedance control
- force control
- model free
- managerial insights
- optimal control
- control strategy
- position control
- manipulation tasks
- control system
- control method
- feedback loop
- variational inequalities
- robotic systems
- dynamic programming
- humanoid robot
- robot manipulators
- control law
- simulation model
- steady state
- fault diagnosis