Towards Sensorless Soft Robotics: Self-Sensing Stiffness Control of Dielectric Elastomer Actuators.
Gianluca RizzelloPietro SerafinoDavid NasoStefan SeeleckePublished in: IEEE Trans. Robotics (2020)
Keyphrases
- control system
- unstructured environments
- control algorithm
- artificial intelligence
- computer vision
- industrial robots
- data acquisition
- control strategy
- robot control
- shape memory alloy
- real time
- impedance control
- control theory
- robotic systems
- degrees of freedom
- neural network
- sensor fusion
- finite element model
- master slave
- motor control
- closed loop
- perception action
- mathematical model
- sensor networks