Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control.
Altay ZhakatayevMatteo RubagottiHuseyin Atakan VarolPublished in: IEEE Access (2015)
Keyphrases
- nonlinear model predictive control
- mobile robot
- cooperative
- multi robot
- image based visual servoing
- dynamic model
- robotic systems
- computationally efficient
- path planning
- autonomous robots
- human robot interaction
- control scheme
- machine learning
- limit cycle
- finite element model
- robot control
- control law
- control system
- experimental data
- least squares