Combined state and parameter estimation for adaptive control and feedback applications for a gait rehabilitation robot.
Thomas SpeckerMichael BuchholzKlaus DietmayerPublished in: CCA (2014)
Keyphrases
- parameter estimation
- adaptive control
- maximum likelihood
- least squares
- model selection
- markov random field
- nonlinear systems
- mobile robot
- em algorithm
- random fields
- parameter estimation algorithm
- feedback control
- control method
- dynamic environments
- legged robots
- motor skills
- expectation maximization
- state space
- model fitting
- variable structure
- control law
- dynamic programming
- chaotic systems
- estimation problems
- reinforcement learning
- learning algorithm
- biped robot
- simultaneous localization and mapping
- probabilistic model
- autonomous robots
- dynamical systems