Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulat...

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Detalles Bibliográficos
Autores principales: Smith, Alex M. C., Yang, Chenguang, Ma, Hongbin, Culverhouse, Phil, Cangelosi, Angelo, Burdet, Etienne
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2015
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4452518/
https://www.ncbi.nlm.nih.gov/pubmed/26029916
http://dx.doi.org/10.1371/journal.pone.0129281

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