Iterative machine learning for precision trajectory tracking with series elastic actuators.
Nathan BankaW. Tony PiaskowyJoseph L. GarbiniSantosh DevasiaPublished in: AMC (2018)
Keyphrases
- trajectory tracking
- machine learning
- iterative learning
- control system
- closed loop
- iterative learning control
- bi directional
- dynamic model
- learning algorithm
- decision trees
- control law
- visual servoing
- mathematical model
- computer vision
- physical constraints
- control method
- active learning
- fuzzy logic
- sliding mode
- control scheme
- degrees of freedom
- computational intelligence
- robot manipulators
- humanoid robot
- supervised learning
- neural network