Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation.
Carlo TiseoQuentin RouxelZhibin LiMichael N. MistryPublished in: ICRA (2022)
Keyphrases
- impedance control
- manipulation tasks
- position control
- object manipulation
- force control
- human robot interaction
- optimal control
- human computer interaction
- control system
- genetic algorithm
- robot navigation
- model free
- control scheme
- robotic manipulator
- closed loop
- humanoid robot
- robotic systems
- human activities
- multi modal
- neural network