Control of constrained robots subject to unilateral contacts and friction cone constraints.
Farhad AghiliChun-Yi SuPublished in: ICRA (2016)
Keyphrases
- autonomous robots
- robot control
- robotic systems
- autonomous systems
- disturbance rejection
- mobile robot
- robot behavior
- physical constraints
- constraint satisfaction
- industrial robots
- control system
- constrained problems
- motion control
- user defined constraints
- robot teams
- hard constraints
- objective function
- multi robot
- constraint programming
- finite element analysis
- visual servoing
- artificial agents
- control method
- humanoid robot
- legged robots
- optimal control
- control strategy
- formation control
- cooperative
- genetic algorithm