Optimal robot‐environment interaction using inverse differential Riccati equation
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DOI: 10.1002/asjc.2066
Abstract: An optimal robot-environment interaction is designed by transforming an environment model into an optimal control problem. In the optimal control, the inverse differential Riccati equation is introduced as a fixed-end-point closed-loop optimal control over a… read more here.
Keywords: control; interaction; optimal robot; equation ... See more keywords
Stabilization of Robot-Environment Interaction Through Generalized Scattering Techniques
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DOI: 10.1109/tro.2021.3107231
Abstract: A control design framework for the coupled stability problem in robotics is presented. The proposed framework fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not… read more here.
Keywords: environment; stabilization; generalized scattering; robot ... See more keywords
Adaptive dynamic programming-based controller with admittance adaptation for robot–environment interaction
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420924610
Abstract: The problem of optimal tracking control for robot–environment interaction is studied in this article. The environment is regarded as a linear system and an admittance control with iterative linear quadratic regulator method is obtained to… read more here.
Keywords: dynamic programming; adaptive dynamic; robot environment; environment interaction ... See more keywords