FEM-Based Nonlinear Controller for a Soft Trunk Robot.
Ke WuGang ZhengPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- tracking control
- biped walking
- motion control
- contact force
- neural network controller
- control architecture
- mobile robot
- robot manipulators
- adaptive controller
- control system
- dynamic model
- robotic manipulator
- trajectory tracking
- variable structure
- control algorithm
- adaptive neural
- reference trajectory
- force control
- wheeled mobile robot
- real time
- central pattern generator
- control scheme
- biped robot
- finite element
- autonomous robots
- robotic systems
- closed loop
- highly nonlinear
- path planning
- visual servoing
- lyapunov function
- liquid state machine
- numerical simulations
- control strategy
- control law
- vision system
- multi robot
- legged robots
- control signals
- humanoid robot
- sliding mode control
- position and orientation
- model predictive control
- neural network
- finite element method
- quadruped robot
- control method
- pid controller
- patient specific
- human robot interaction
- tracking error
- nonlinear systems
- robot control
- boundary conditions
- linear quadratic
- stability analysis
- controller design