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Online estimation of friction constraints for multi-contact whole body control.
Cameron P. Ridgewell
Robert J. Griffin
Tomonari Furukawa
Brian Y. Lattimer
Published in:
Humanoids (2017)
Keyphrases
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control system
disturbance rejection
online learning
real time
neural network
control strategy
estimation error
data sets
learning algorithm
parameter estimation
data acquisition
constraint satisfaction
optimal control
control algorithm
control method
geometric constraints