A Passivity-Based Model-Free Force-Motion Control of Underwater Vehicle-Manipulator Systems.
Ernesto Olguín DíazGustavo ArechavaletaGerardo JarquínVicente Parra-VegaPublished in: IEEE Trans. Robotics (2013)
Keyphrases
- model free
- impedance control
- motion control
- underwater vehicles
- reinforcement learning
- force control
- control system
- function approximation
- degrees of freedom
- real time
- mathematical models
- complex systems
- visual servoing
- inverse kinematics
- end effector
- feature vectors
- artificial neural networks
- support vector
- machine learning