Underwater Soft Robot Modeling and Control With Differentiable Simulation.
Tao DuJosie HughesSebastien WahWojciech MatusikDaniela RusPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- robot control
- autonomous robots
- robotic systems
- discrete event simulation
- mobile robot
- discrete event
- visual servoing
- robot behavior
- agent based modeling
- robot teams
- end effector
- robotic arm
- robotic manipulator
- control signals
- experimental platform
- simulation model
- motion control
- robot manipulators
- simulated robot
- hand eye
- control system
- real robot
- control method
- computer controlled
- obstacle avoidance
- human robot interaction
- degrees of freedom
- underwater vehicles
- control strategy
- optimal control
- objective function
- mathematical model
- biped robot
- path planning
- motor learning
- force control
- robot arm
- home environment
- humanoid robot
- visual feedback
- control architecture