Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach.
Dennis OssadnikVasilije RakcevicMehmet C. YildirimEdmundo Pozo FortunicHugo T. M. KussabaAbdalla SwikirSami HaddadinPublished in: CoRR (2024)
Keyphrases
- optimal control
- control problems
- mobile robot
- dynamic programming
- feedback control
- autonomous robots
- class of nonlinear systems
- risk sensitive
- infinite horizon
- multi robot
- reinforcement learning
- robotic systems
- control strategy
- control law
- brownian motion
- optimal control problems
- humanoid robot
- state space
- manipulation tasks
- linear quadratic
- real time