Geometric Algebra for Optimal Control With Applications in Manipulation Tasks.
Tobias LöwSylvain CalinonPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- optimal control
- geometric algebra
- manipulation tasks
- impedance control
- robot navigation
- motion planning
- pose estimation
- dynamic programming
- robotic systems
- mathematical framework
- human robot interaction
- control strategy
- control law
- service robots
- reinforcement learning
- end effector
- humanoid robot
- optimal control problems
- real robot
- adaptive control
- degrees of freedom
- image restoration