Approximate optimal control for reaching and trajectory planning in a humanoid robot.
Serena IvaldiMatteo FumagalliFrancesco NoriMarco BagliettoGiorgio MettaGiulio SandiniPublished in: IROS (2010)
Keyphrases
- optimal control
- motion planning
- trajectory planning
- humanoid robot
- dynamic programming
- control problems
- control law
- obstacle avoidance
- multi modal
- feedback control
- control strategy
- infinite horizon
- optimal control problems
- human motion
- degrees of freedom
- dynamic environments
- reinforcement learning
- mathematical model
- mobile robot
- robot manipulators
- manipulation tasks
- learning algorithm