Synthesizing a desired trajectory and sensory feedback control laws for an origami-folding robot based on the statistical characteristics of direct teaching by a human.
Kenta TanakaYasuyuki KiharaYasuyoshi YokokohjiPublished in: ICRA (2009)
Keyphrases
- trajectory tracking
- control law
- closed loop
- visual servoing
- control system
- desired trajectory
- dynamic model
- bi directional
- control theory
- iterative learning
- control scheme
- nonlinear systems
- control strategy
- control algorithm
- physical constraints
- adaptive control
- sliding mode
- motion planning
- optimal control
- tracking error
- autonomous robots
- iterative learning control
- control method
- human teacher
- dynamical systems
- humanoid robot
- mobile robot
- control parameters
- variable structure
- lyapunov function
- end effector
- path planning
- human subjects
- robot manipulators
- d objects
- stability analysis
- vision system
- pid controller
- linear model
- mathematical model
- experimental data
- three dimensional