Position and Stiffness Control of Musculoskeletal-Inspired Robot Arm Based on Direct Sum Decomposition.
Toshimi ShimizuPublished in: SICE (2023)
Keyphrases
- robot arm
- position control
- end effector
- control strategies
- inverse kinematics
- position and orientation
- motion planning
- impedance control
- control system
- robotic manipulator
- natural actor critic
- force feedback
- nonlinear systems
- degrees of freedom
- vision system
- force control
- skill learning
- control strategy
- real time
- control law
- joint angles
- path planning
- least squares
- dynamic programming
- viewpoint
- object recognition
- genetic algorithm