Multi-task closed-loop inverse kinematics stability through semidefinite programming.
Josep Marti-SaumellAngel Santamaria-NavarroCarlos Ocampo-MartinezJuan Andrade-CettoPublished in: ICRA (2020)
Keyphrases
- closed loop
- multi task
- semidefinite programming
- inverse kinematics
- maximum margin
- robot manipulators
- control scheme
- control law
- robot arm
- metric learning
- kernel matrix
- pid controller
- control system
- linear matrix inequality
- learning tasks
- linear programming
- motion planning
- position and orientation
- multi class
- learning problems
- primal dual
- feature selection
- multiple kernel learning
- transfer learning
- nonlinear systems
- degrees of freedom
- adaptive control
- sufficient conditions