Performing explosive motions using a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control.
Ganesh Kumar Hari Shankar Lal DasBertrand TonduFlorent ForgetJérôme ManhesOlivier StassePhilippe SouèresPublished in: CCA (2016)
Keyphrases
- optimal control
- control law
- force control
- control strategy
- joint angles
- dynamic programming
- degrees of freedom
- robot arm
- control problems
- risk sensitive
- feedback control
- control theory
- control system
- class of nonlinear systems
- infinite horizon
- reinforcement learning
- brownian motion
- adaptive control
- lyapunov function
- optimal control problems
- nonlinear systems
- image sequences
- video sequences
- control scheme
- control method
- control algorithm
- stochastic control
- human arm
- closed loop
- linear quadratic
- learning algorithm
- motion planning
- tracking error
- kinematic constraints