Exploiting sparsity in the discrete mechanics and optimal control method with application to human motion planning.
Staffan BjorkenstamJohan S. CarlsonBengt LennartsonPublished in: CASE (2015)
Keyphrases
- control method
- motion planning
- adaptive control
- control algorithm
- path planning
- control system
- control law
- degrees of freedom
- fuzzy control
- control strategy
- dynamic programming
- robotic arm
- humanoid robot
- mobile robot
- neural network
- robotic tasks
- multi robot
- nonlinear systems
- collision free
- trajectory planning
- mechanical systems
- fuzzy pid control