Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints.
David J. BraunFlorian PetitFelix HuberSami HaddadinPatrick van der SmagtAlin Albu-SchäfferSethu VijayakumarPublished in: IEEE Trans. Robotics (2013)
Keyphrases
- optimal control
- dynamic programming
- control problems
- control strategy
- mathematical model
- physical constraints
- risk sensitive
- degrees of freedom
- feedback control
- optimal control problems
- class of nonlinear systems
- infinite horizon
- control system
- control law
- reinforcement learning
- control algorithm
- multi robot
- robotic systems
- joint space
- autonomous robots
- lyapunov function
- brownian motion
- mobile robot
- constrained optimization
- continuous stirred tank reactor