Modal limit cycle control for variable stiffness actuated robots.
Dominic LakatosGianluca GarofaloFlorian PetitChristian OttAlin Albu-SchäfferPublished in: ICRA (2013)
Keyphrases
- limit cycle
- disturbance rejection
- control loop
- control scheme
- steady state
- neural model
- control system
- open loop
- robot control
- position control
- impedance control
- robotic systems
- autonomous systems
- control strategy
- mobile robot
- control algorithm
- control method
- walking speed
- robot behavior
- feedback loop
- industrial robots
- learning algorithm
- force control
- manipulation tasks
- robotic manipulator
- autonomous robots
- modal logic
- state space
- feed forward
- multi modal
- human operators
- global optimization