Optimal control for maximizing velocity of the CompAct™ compliant actuator.
Lisha ChenManolo GarabiniMatteo LaffranchiNavvab KashiriNikos G. TsagarakisAntonio BicchiDarwin G. CaldwellPublished in: ICRA (2013)
Keyphrases
- optimal control
- dynamic programming
- control problems
- control strategy
- feedback control
- risk sensitive
- infinite horizon
- lyapunov function
- brownian motion
- optimal control problems
- control system
- class of nonlinear systems
- control law
- reinforcement learning
- closed loop
- control method
- tracking error
- optical flow
- multistage
- linear quadratic