From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators

Journal of Robotic Systems

Volumn 22, Issue 11, 2005, Pages 691-710

  Todorov, Emanuel ^a   Li, Weiwei ^b   Pan, Xiuchuan ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; FEEDBACK CONTROL; HIERARCHICAL SYSTEMS; MATRIX ALGEBRA; OPTIMIZATION; QUADRATIC PROGRAMMING; ROBOTICS;

HIERARCHICAL CONTROL; NEURAL CONTROL; OPTIMAL FEEDBACK CONTROL;

REDUNDANT MANIPULATORS;

EID: 28044474086     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.20093     Document Type: Article

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