Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion.
Matthew J. PowellAaron D. AmesPublished in: ACC (2016)
Keyphrases
- parameter optimization
- real time
- robot control
- robotic systems
- legged robots
- mobile robot
- control system
- pid controller
- vision system
- autonomous robots
- central pattern generator
- quadruped robot
- robot motion
- control method
- rough terrain
- real time control
- genetic algorithm ga
- legged locomotion
- genetic algorithm
- robot behavior
- differential evolution
- particle swarm optimization
- control strategy
- inverted pendulum
- parameter estimation
- support vector machine
- humanoid robot
- higher order