Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction.

Vincent Duchaine Clément Gosselin

Published in: J. Robotics Mechatronics (2011)

Keyphrases

control scheme
cooperative
autonomous navigation
control loop
mobile robot
humanoid robot
image sequences

motion planning
robot manipulators
human arm
inverse kinematics
closed loop
motion capture
end effector

configuration space
camera motion
robotic manipulator
control system
dynamic model
control strategy
human motion

visual servoing
path planning
vision system
predictive control
position control
reinforcement learning