Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics.
Fei LiuMingen LiJingpei LuEntong SuMichael C. YipPublished in: CoRR (2022)
Keyphrases
- motion control
- rigid body
- parameter identification
- physical constraints
- mobile robot
- closed loop
- control system
- autonomous robots
- robot control
- motion parameters
- fuzzy model
- autonomous navigation
- real robot
- autoregressive
- chaotic systems
- path planning
- control scheme
- control law
- dynamical systems
- dynamic model
- multi robot
- initial conditions
- position and orientation
- control algorithm
- image sequences
- least squares
- motion estimation
- motion model
- human body
- particle swarm optimization
- reinforcement learning