Unilateral Constraints for Torque-based Whole-Body Control.

Juan D. Muñoz Osorio Abdelrahman Abdelazim Felix Allmendinger Uwe E. Zimmermann

Published in: IROS (2020)

Keyphrases

induction motor
control strategy
control system
control problems
feedback loop
external forces
optimal control
control method
control algorithm
process control
control strategies
adaptive control
global constraints
case study
robotic systems
constraint programming
constraint satisfaction
multi modal
expert systems