Deep-learning-based Position Control of a Robotic Catheter under Environmental Contact.
Di WuYao ZhangMouloud OurakXuan Thao HaKenan NiuJenny DankelmanEmmanuel B. Vander PoortenPublished in: ISMR (2022)
Keyphrases
- deep learning
- position control
- robotic manipulator
- force control
- control scheme
- closed loop
- contact force
- control system
- robot arm
- tactile sensing
- unsupervised learning
- control strategies
- feedback loop
- dc motor
- weakly supervised
- machine learning
- degrees of freedom
- end effector
- robotic systems
- control architecture
- robot manipulators
- control strategy
- pid controller
- mental models
- neural network
- force feedback
- real time
- control law
- dynamic model
- domain specific
- object recognition