Sensor reduction of variable stiffness actuated robots using moving horizon estimation

Keyphrases

• Variable Stiffness 100%
• Moving Horizon Estimation 100%
• Variable Reduction 100%
• Sensor Reduction 100%
• Actuator 40%
• Encoder 40%
• Stiffness 20%
• Reaction Wheel 20%
• Physical Human-robot Interaction 20%
• Real-world Experiment 20%
• Control Performance 20%
• Closed-loop Control System 20%
• Estimation Algorithms 20%
• Augmented Variable 20%
• Inherent Safety Features 20%
• Industrial Environment 20%
• Full Set of States 20%
• Reduced System 20%
• Reduction Strategies 20%
• Unmeasured States 20%
• Early Introduction 20%
• Nonlinear Model Predictive Controller 20%

INIS

• reduction 100%
• robots 100%
• sensors 100%
• stiffness 100%
• control 50%
• actuators 33%
• reliability 33%
• humans 16%
• environment 16%
• performance 16%
• interactions 16%
• simulation 16%
• constraints 16%
• algorithms 16%
• safety 16%
• nonlinear problems 16%
• wheels 16%
• closed-loop control 16%
• control systems 16%

Engineering

• Robot 100%
• Sensor Reduction 100%
• Feedback Control System 20%
• Joints (Structural Components) 20%
• Nonlinear Model 20%
• Inherent Safety 20%
• Safety Feature 20%
• Industrial Environment 20%
• Estimated State 20%