On-line parameter identification and adaptive control of rigid robots using base reaction forces/torques.
Eftychios G. ChristoforouPublished in: ICRA (2007)
Keyphrases
- input output
- parameter identification
- inverse dynamics
- nonlinear systems
- adaptive control
- fuzzy model
- chaotic systems
- closed loop
- control law
- control method
- mobile robot
- flight test
- control algorithm
- fuzzy controller
- autonomous robots
- control system
- multi robot
- robotic systems
- control scheme
- contact force
- reinforcement learning
- dynamic environments
- variable structure
- humanoid robot
- pid controller
- autoregressive
- neural network
- dynamic model
- path planning
- multi modal
- least squares
- clustering algorithm