Optimal Control Parameterization for ActivelPassive EXoskeleton with Variable Impedance Actuator.
Daisuke KaneishiRobert Peter MatthewMasayoshi TomizukaPublished in: BioRob (2018)
Keyphrases
- optimal control
- position control
- control strategy
- control scheme
- force control
- control strategies
- control system
- closed loop
- control problems
- dynamic programming
- control method
- control law
- feedback control
- risk sensitive
- robotic manipulator
- robot arm
- class of nonlinear systems
- optimal control problems
- infinite horizon
- linear quadratic
- reinforcement learning
- end effector
- dc motor
- lower extremity
- lyapunov function
- pid controller
- degrees of freedom
- mathematical model
- neural network
- brownian motion
- robot manipulators
- feedback loop
- fuzzy controller
- sliding mode control
- machine learning
- real time