Winching up heavy loads with a compliant arm: a new local joint controller.
Axel SchneiderHolk CruseJosef SchmitzPublished in: Biol. Cybern. (2008)
Keyphrases
- response time
- real time
- control system
- control algorithm
- central pattern generator
- human arm
- controller design
- closed loop
- control strategy
- dynamic response
- optimal control
- robotic manipulator
- data sets
- joint angles
- control architecture
- adaptive control
- control law
- load balancing
- pid controller
- control scheme
- control method
- dynamic model
- joint space
- neural network controller
- iterative learning control
- matlab simulation
- artificial neural networks