Optimal torque and stiffness control in compliantly actuated robots.
David J. BraunFlorian PetitFelix HuberSami HaddadinPatrick van der SmagtAlin Albu-SchäfferSethu VijayakumarPublished in: IROS (2012)
Keyphrases
- control scheme
- optimal control
- control system
- feedback loop
- robot control
- position control
- robotic systems
- induction motor
- control strategy
- control method
- control law
- force control
- industrial robots
- autonomous robots
- open loop
- control algorithm
- mobile robot
- adaptive control
- robot behavior
- control policy
- dynamic programming
- robotic manipulator
- impedance control
- quadruped robot
- optimal solution
- motion control
- autonomous systems
- vision system
- real time
- inverted pendulum
- robot manipulators
- joint space
- feedback control
- formation control
- closed loop