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A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm.
Giovanni Gerardo Muscolo
Kenji Hashimoto
Atsuo Takanishi
Paolo Dario
Published in:
J. Robotics (2013)
Keyphrases
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human arm
position control
impedance control
data sets
evolutionary algorithm
position and orientation
tactile sensing
real time
databases
neural network
decision trees
multiscale
reinforcement learning
mathematical model
test bed
position estimation