Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.
Cosimo Della SantinaRobert K. KatzschmannAntonio BicchiDaniela RusPublished in: Int. J. Robotics Res. (2020)
Keyphrases
- trajectory tracking
- closed loop
- feedback control
- control law
- control system
- dynamic environments
- mobile robot
- control scheme
- iterative learning control
- adaptive fuzzy
- visual servoing
- adaptive control
- autonomous robots
- real time
- bi directional
- dynamic model
- optimal control
- inverted pendulum
- robotic systems
- physical constraints
- pid controller
- control theory
- iterative learning
- computer vision
- mathematical model
- fuzzy logic