Basis-motion torque composition approach: generation of feedforward inputs for control of multi-joint robots.
Masahiro SekimotoSadao KawamuraTomoya IshitsuboShinsuke AkizukiMasayuki MizunoPublished in: IROS (2009)
Keyphrases
- feed forward
- motion control
- joint space
- adaptive neural
- control signals
- robot motion
- mobile robot
- control system
- neural network
- humanoid robot
- back propagation
- visual motion
- neural nets
- control strategy
- end effector
- robot control
- quadruped robot
- artificial neural networks
- autonomous robots
- pwm rectifier
- control algorithm
- kinematic model
- induction motor
- image sequences
- high degree of freedom
- neural architecture
- visual cortex
- robotic systems
- physical constraints
- degrees of freedom
- biologically plausible
- control method
- motion analysis
- recurrent neural networks
- activation function
- human motion
- recurrent networks
- visual servoing
- multi robot
- camera motion
- space time
- legged robots
- primate visual cortex
- output layer
- robot manipulators
- pid controller
- hidden layer
- control scheme
- motion patterns
- optical flow
- moving objects