Comparing and Configuring Soft Tendon Designs for Variable Stiffness Actuators on a Robot Arm.
Laurenz ElstnerRaquel Motzfeldt TirachErik KyrkjebøMartin F. StoelenPublished in: RoboSoft (2023)
Keyphrases
- robot arm
- motion planning
- position control
- degrees of freedom
- inverse kinematics
- natural actor critic
- force control
- position and orientation
- contact force
- end effector
- control strategies
- force feedback
- nonlinear systems
- mathematical model
- skill learning
- machine learning
- real world
- pose estimation
- control system
- evolutionary algorithm
- learning algorithm