Null-space impedance control with disturbance observer.
Hamid SadeghianMehdi KeshmiriLuigi VillaniBruno SicilianoPublished in: IROS (2012)
Keyphrases
- null space
- impedance control
- force control
- linear discriminant analysis
- singular value decomposition
- model free
- novelty detection
- principal components
- optimal control
- manipulation tasks
- intra class
- theoretical guarantees
- singular values
- discriminative information
- face recognition
- lower dimensional
- small sample size
- data streams
- multi modal
- position control
- semi supervised
- dimensionality reduction
- data representation
- control strategy
- degrees of freedom
- dimension reduction