Dynamic behaviors on the NAO robot with closed-loop whole body operational space control.
Donghyun KimSteven Jens JorgensenPeter StoneLuis SentisPublished in: Humanoids (2016)
Keyphrases
- closed loop
- open loop
- trajectory tracking
- humanoid robot
- control system
- control loop
- force control
- reference trajectory
- control law
- feedback control
- control scheme
- dynamic behaviors
- guaranteed cost
- visual servoing
- position control
- robot manipulators
- feedback controller
- disturbance rejection
- motion planning
- robotic manipulator
- autonomous robots
- mobile robot
- control strategy
- parameter identification
- pid controller
- control method
- dynamic model
- robotic systems
- decision making
- external disturbances
- inverted pendulum
- adaptive control
- nonlinear systems
- control architecture
- robot control
- fuzzy control
- iterative learning control
- neural network controller
- real time
- control algorithm
- tracking error
- robot arm
- sliding mode
- path planning
- asymptotic stability
- end effector
- real robot
- iterative learning
- artificial neural networks