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Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control.
Bilal Hammoud
Majid Khadiv
Ludovic Righetti
Published in:
IEEE Robotics Autom. Lett. (2021)
Keyphrases
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optimal control
risk sensitive
optimal control problems
dynamic programming
control strategy
utility function
infinite horizon
reinforcement learning
optimization problems
control law
average cost
markov decision processes
evolutionary algorithm
optimization algorithm
optimal policy
neural network
decision making