External torque sensing algorithm for flexible-joint robot based on disturbance observer structure.
Young Jin ParkWan Kyun ChungPublished in: IROS (2014)
Keyphrases
- dynamic programming
- graph structure
- detection algorithm
- high accuracy
- search space
- real time
- cost function
- np hard
- obstacle avoidance
- optimization algorithm
- expectation maximization
- significant improvement
- k means
- preprocessing
- optimal solution
- learning algorithm
- experimental evaluation
- mobile robot
- computational complexity
- objective function
- tree structure
- times faster
- data structure
- mathematical model
- reinforcement learning