Learning impedance control of antagonistic systems based on stochastic optimization principles

International Journal of Robotics Research

Volumn 30, Issue 5, 2011, Pages 556-573

  Mitrovic, Djordje ^a   Klanke, Stefan ^a   Vijayakumar, Sethu ^a  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

Author keywords

Antagonistic actuator; Dynamics learning; Equilibrium point control; Impedance control; Stochastic optimal control

Indexed keywords

ANTAGONISTIC ACTUATOR; CLASSICAL METHODS; ENERGY COST; EQUILIBRIUM POINT CONTROL; FIRST-PRINCIPLES; IMPEDANCE CONTROL; IMPEDANCE MODULATION; MECHANICAL ARCHITECTURE; NOISE CHARACTERISTIC; OPTIMAL CONTROLS; PERFORMANCE GAIN; PLANT DYNAMICS; ROBOTIC SYSTEMS; SERIES ELASTIC ACTUATORS; STOCHASTIC INFORMATION; STOCHASTIC OPTIMAL CONTROL; STOCHASTIC OPTIMIZATIONS; STOCHASTIC PROPERTIES; SYSTEMATIC CHANGES; VARIABLE IMPEDANCE; LEARNING IMPEDANCE CONTROLS; VARIABLE IMPEDANCE ACTUATIONS;

ACTUATORS; CONTROL; OPTIMIZATION; STOCHASTIC SYSTEMS; DYNAMICS; HARDWARE; MECHANICAL ACTUATORS; STOCHASTIC CONTROL SYSTEMS;

ROBOTICS;

EID: 79959331392     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364910387653     Document Type: Article

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