A highly integrated joint controller for a humanoid robot arm.
Zijian ZhangFenglei NiYi RenMinghe JinYiwei LiuHong LiuPublished in: ROBIO (2013)
Keyphrases
- robot arm
- motion planning
- control law
- control strategies
- position control
- inverse kinematics
- humanoid robot
- control algorithm
- natural actor critic
- control strategy
- closed loop
- control system
- degrees of freedom
- joint angles
- real time
- nonlinear systems
- position and orientation
- end effector
- skill learning
- mobile robot
- adaptive control
- machine learning
- real robot
- autonomous robots
- multi modal
- robotic manipulator
- particle swarm optimization