Iterative Machine Learning for Precision Trajectory Tracking with Series Elastic Actuators.
Nathan BankaW. Tony PiaskowyJoseph L. GarbiniSantosh DevasiaPublished in: CoRR (2017)
Keyphrases
- trajectory tracking
- machine learning
- iterative learning
- control system
- closed loop
- iterative learning control
- dynamic model
- learning algorithm
- physical constraints
- control law
- computational intelligence
- decision trees
- degrees of freedom
- bi directional
- active learning
- neural network
- support vector machine
- mathematical model
- incremental learning
- real time
- error reduction
- control algorithm
- mobile robot
- reinforcement learning