Model-based feedforward position control of constant curvature continuum robots using feedback linearization.
Valentin FalkenhahnAlexander HildebrandtRüdiger NeumannOliver SawodnyPublished in: ICRA (2015)
Keyphrases
- feed forward
- constant curvature
- position control
- feedback loop
- back propagation
- artificial neural networks
- robotic manipulator
- neural network
- circular arcs
- mobile robot
- robotic systems
- euclidean space
- control scheme
- closed loop
- hidden layer
- multi robot
- visual cortex
- control strategies
- force control
- robot arm
- control system
- straight line segments
- radial basis function
- end effector
- image processing
- decision making
- computer vision