Optimal control for exploiting the natural dynamics of Variable Stiffness robots.
Sami HaddadinFelix HuberAlin Albu-SchäfferPublished in: ICRA (2012)
Keyphrases
- optimal control
- continuous stirred tank reactor
- control problems
- impedance control
- dynamic programming
- feedback control
- mobile robot
- control strategy
- risk sensitive
- brownian motion
- control law
- infinite horizon
- optimal control problems
- class of nonlinear systems
- reinforcement learning
- physical constraints
- multi robot
- real time
- dynamic model
- linear quadratic
- robotic systems
- mathematical model
- control system
- learning algorithm
- neural network