Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers.
Carlo TiseoWolfgang MerktWouter WolfslagSethu VijayakumarMichael N. MistryPublished in: CoRR (2020)
Keyphrases
- control system
- control strategy
- legged robots
- robotic systems
- controller design
- motion control
- joint space
- control method
- autonomous robots
- mobile robot
- space time
- cooperative
- adaptive control
- inverted pendulum
- robot control
- control loop
- industrial robots
- tracking control
- control policies
- control law
- autonomous systems
- human operators
- control strategies
- quadruped robot
- neural network controller
- evolutionary robotics
- robot teams
- real time
- unstructured environments
- robot manipulators
- multi robot
- mathematical model
- vision system
- low dimensional
- reinforcement learning