Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness.
Virginia Ruiz GarateMaria PozziDomenico PrattichizzoNikolaos G. TsagarakisArash AjoudaniPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- position control
- robotic manipulator
- impedance control
- control scheme
- force control
- control system
- control strategies
- feedback loop
- closed loop
- human hand
- robotic arm
- manipulation tasks
- pose estimation
- robotic systems
- degrees of freedom
- control strategy
- robot arm
- real time
- d objects
- control loop
- end effector
- finite element model
- optimization problems
- robot motion
- joint optimization
- visual servoing
- motor control
- contact force
- dc motor
- optimal control
- mobile robot
- human operators
- vision system
- pid controller
- optimization algorithm
- perception action
- global optimization