A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems.
Dominic LakatosMartin GörnerFlorian PetitAlexander DietrichAlin Albu-SchäfferPublished in: IROS (2013)
Keyphrases
- adaptive control
- robotic systems
- control law
- autonomous robots
- nonlinear systems
- control method
- vision system
- mobile robot
- feedback control
- adaptive controller
- control problems
- control architecture
- dynamic environments
- reinforcement learning
- closed loop
- object manipulation
- multi robot
- control system
- video sequences
- image sequences
- motor control
- control algorithm
- control scheme
- motion planning
- least squares
- optical flow
- evolutionary algorithm
- moving objects
- robotic manipulator
- imitation learning
- variable structure
- autonomous control
- data mining
- multi modal
- computer vision