Simultaneous optimization of robot trajectory and nonlinear springs to minimize actuator torque.
Nicolas SchmitMasafumi OkadaPublished in: ICRA (2012)
Keyphrases
- simultaneous optimization
- position control
- trajectory planning
- control scheme
- closed loop
- mobile robot
- trajectory tracking
- neural network controller
- robot manipulators
- control system
- reference trajectory
- collision free
- force control
- human robot interaction
- control method
- robot motion
- desired trajectory
- robotic manipulator
- robot arm
- motion planning
- vision system
- control algorithm
- robot control
- path planning
- obstacle avoidance
- trajectory data
- mobile robotics
- multi robot
- robot navigation
- dynamic model
- humanoid robot
- feedback loop
- configuration space
- control law
- control strategy
- dynamic environments
- real time
- induction motor
- pid controller
- service robots
- lyapunov function
- motion control
- tracking error
- end effector
- dc motor
- robot soccer
- inverse kinematics
- control architecture
- iterative learning control
- position and orientation
- autonomous robots