Stiffness and Impedance Control Using Lyapunov Theory for Robot-Aided Rehabilitation.
Haifa MehdiOlfa BoubakerPublished in: Int. J. Soc. Robotics (2012)
Keyphrases
- impedance control
- force control
- manipulation tasks
- position control
- robot manipulators
- lyapunov theory
- robot navigation
- control system
- closed loop
- mobile robot
- robotic systems
- end effector
- control strategy
- model free
- human robot interaction
- humanoid robot
- optimal control
- inverse kinematics
- control scheme
- robot arm
- motion planning
- service robots
- motor control
- path planning
- real time
- autonomous robots
- contact force
- control algorithm
- neural network
- vision system
- multi robot
- force feedback
- robotic arm
- control strategies
- control law
- position and orientation