A scalable joint-space controller for musculoskeletal robots with spherical joints.
Michael JäntschChristian SchmalerSteffen WittmeierKonstantinos DalamagkidisAlois C. KnollPublished in: ROBIO (2011)
Keyphrases
- joint space
- degrees of freedom
- humanoid robot
- end effector
- motion planning
- control system
- pose estimation
- real time
- three dimensional
- contact force
- control scheme
- spatio temporal
- closed loop
- configuration space
- path planning
- pid controller
- control method
- human body
- fuzzy logic controller
- mobile robot
- reinforcement learning