A two-staged residual for resilient external torque estimation with series elastic actuators.
Chan LeeJinoh LeeJörn MalzahnNikolaos G. TsagarakisSehoon OhPublished in: Humanoids (2017)
Keyphrases
- feedback loop
- control algorithm
- mathematical model
- contact force
- neural network
- case study
- external information
- control system
- estimation accuracy
- degrees of freedom
- artificial intelligence
- monte carlo simulation
- robust estimation
- real world
- data sets
- internal and external
- estimation algorithm
- information retrieval
- parameter estimation
- particle filter
- video sequences
- knowledge base