Stiffness and temporal optimization in periodic movements: An optimal control approach.
Jun NakanishiKonrad RawlikSethu VijayakumarPublished in: IROS (2011)
Keyphrases
- optimal control
- optimal control problems
- control problems
- impedance control
- control strategy
- feedback control
- dynamic programming
- risk sensitive
- infinite horizon
- class of nonlinear systems
- brownian motion
- reinforcement learning
- lyapunov function
- optimization algorithm
- optimization problems
- control law
- constrained optimization
- linear quadratic