Compliant adaptive control of human upper-limb exoskeleton robot with unknown dynamics based on a Modified Function Approximation Technique (MFAT).
Brahim BrahmiMohamed Hamza LarakiMaarouf SaadMohammad Habibur RahmanCristóbal Ochoa-LunaAbdelkrim BrahmiPublished in: Robotics Auton. Syst. (2019)
Keyphrases
- function approximation
- adaptive control
- lower extremity
- reinforcement learning
- nonlinear systems
- control method
- temporal difference learning algorithms
- mobile robot
- feedback control
- control problems
- radial basis function
- temporal difference
- learning tasks
- robot arm
- joint angles
- control law
- dynamic environments
- function approximators
- state space
- machine learning
- vision system
- chaotic systems
- supervised learning
- degrees of freedom
- real time
- rbfnn
- robotic systems
- action selection
- motion planning
- multi robot
- markov decision processes
- learning experience
- dynamic programming
- artificial neural networks
- computer vision
- learning algorithm
- data mining