Passivity-based stability in explicit force control of robots.
Ribin BalachandranMikael JordaJordi ArtigasJee-Hwan RyuOussama KhatibPublished in: ICRA (2017)
Keyphrases
- force control
- impedance control
- manipulation tasks
- robot manipulators
- robotic systems
- sliding mode
- control strategy
- closed loop
- mobile robot
- position control
- robotic cell
- multi robot
- control architecture
- control law
- stability analysis
- robot navigation
- autonomous robots
- human robot interaction
- control system
- real time
- fuzzy controller
- service robots
- humanoid robot
- optimal control
- numerical simulations
- sufficient conditions
- vision system