Adaptive impedance control of a variable stiffness actuator.
Ryuta OzawaHiroaki KobayashiRyota IshibashiPublished in: Adv. Robotics (2015)
Keyphrases
- impedance control
- position control
- force control
- model free
- closed loop
- robot arm
- control system
- manipulation tasks
- optimal control
- control scheme
- robotic manipulator
- control strategies
- multi modal
- dynamic model
- control method
- visual servoing
- real world
- function approximation
- robotic systems
- degrees of freedom
- reinforcement learning