A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid.
Charles M. BestMorgan T. GillespiePhillip HyattLevi RupertVallan SherrodMarc D. KillpackPublished in: IEEE Robotics Autom. Mag. (2016)
Keyphrases
- control method
- model predictive control
- control system
- control scheme
- humanoid robot
- control strategy
- predictive control
- control law
- robot manipulators
- visual servoing
- control algorithm
- adaptive control
- trajectory tracking
- mobile robot
- motion planning
- closed loop
- pid controller
- grey prediction
- fuzzy logic
- fuzzy control
- desired trajectory
- fuzzy controller
- real time
- nonlinear systems
- path planning
- intelligent control
- fuzzy pid
- robotic systems
- sliding mode
- dc dc converter
- matlab simulink
- optimal control
- position and orientation
- single phase
- degrees of freedom
- vision system
- neural network controller
- networked control systems
- mathematical model
- fuzzy pid control