Passivity-based elastic joint robot control with on-line gravity compensation.

Yanlei Ye Chin-Yin Chen Peng Li Guilin Yang Chang'an Zhu Chi Zhang

Published in: ICIA (2016)

Keyphrases

robot control
autonomous robots
mobile robot
visual servoing
object manipulation
unstructured environments
motion control
cerebellar model articulation controller
subsumption architecture
neural network
reinforcement learning
motor control
support vector
control law