Optimization-Based Controllers for Robotics Applications (OCRA): The Case of iCub's Whole-Body Control.
Jorhabib Eljaik G.Ryan LoberAntoine HoarauVincent PadoisPublished in: Frontiers Robotics AI (2018)
Keyphrases
- control system
- control strategy
- controller design
- human robot interaction
- adaptive control
- computer vision
- artificial intelligence
- industrial robots
- optimization algorithm
- robot control
- control strategies
- real time
- perception action
- control loop
- inverted pendulum
- global optimization
- constrained optimization
- optimization process
- control theory
- impedance control
- control method
- robotic systems
- optimization problems
- reinforcement learning
- control algorithm
- optimal control
- feedback control
- mathematical model
- control policies
- fuzzy logic
- sliding mode
- multi objective
- evolutionary robotics
- genetic algorithm