Optimal control for maximizing potential energy in a variable stiffness joint.
Sami HaddadinMehmet Can OzparpucuAlin Albu-SchäfferPublished in: CDC (2012)
Keyphrases
- optimal control
- control problems
- dynamic programming
- control strategy
- feedback control
- impedance control
- brownian motion
- control law
- optimal control problems
- risk sensitive
- infinite horizon
- class of nonlinear systems
- reinforcement learning
- objective function
- stochastic control
- neural network
- multistage
- linear quadratic
- machine learning