Impedance Optimization for Uncertain Contact Interactions through Risk Sensitive Optimal Control

Keyphrases

• Contact Damping 33%
• Contact Force 33%
• Contact Interaction 100%
• Contact Location 33%
• Control Trajectory 33%
• Disturbance Estimation 33%
• Disturbance Rejection 33%
• Early Contact 33%
• Enhanced Stability 33%
• Feedback Control Gain 33%
• High-impact Events 33%
• Impedance Optimization 100%
• Impedance Regulation 33%
• Legged Locomotion 33%
• Local Feedback 33%
• Locomotion Task 33%
• Measurement Uncertainty 66%
• Modulation Pattern 33%
• Optimal Control Strategy 33%
• Optimal Impedance 33%
• Quadruped Robot 33%
• Risk Control 100%
• State Trajectory 33%
• Stiffness 33%
• Stochastic Optimal Control 33%
• Task-involving 33%

Engineering

• Feedback Control 50%
• Optimal Control 100%