OPENTECHNICAL PUBLICATION
OT-2026-000000880

Dynamic system controller with online machine learning

Published: 2026-09-15T19:03:32.082814Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000880
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A dynamic system controller includes a first error detection unit that
determines a first error between a joint state and a joint state target. The
joint state describes an actual state of a set of joints in a dynamic body.
The set of joints has one or more degrees of freedom that are controlled by a
set of actuators. An impedance controller generates an impedance torque or
force based on the first error. A first neural network accepts the joint state
target and outputs an estimated actuation force. A second error detection unit
determines a second error between an actual actuation force applied to the set
of joints by the set of actuators at the joint state and a combination of the
impedance torque or force and the estimated actuation force. A force
controller generates a set of actuation commands based on the second error.

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OpenTechnical publication OT-2026-000000880
Published 2026-09-15T19:03:32.082814Z
https://opentechnical.org/p/OT-2026-000000880