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Compliance Control for Robot Manipulation in Contact with a Varied Environment Based on a New Joint Torque Controller.
Yunfei Dong
Tianyu Ren
Dan Wu
Ken Chen
Published in:
J. Intell. Robotic Syst. (2020)
Keyphrases
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control architecture
position control
control loop
mobile robot
control strategy
control scheme
contact force
motion control
control system
robotic systems
robotic manipulator
autonomous robots
force control
control algorithm
control signals
robot manipulators
central pattern generator
control method
closed loop
mobile robotics
impedance control
wheeled mobile robot
robot motion
control strategies
controller design
optimal control
home environment
robot control
robot behavior
real time
dc motor
visual servoing
master slave
manipulation tasks
semi autonomous
legged robots
pid controller
inverted pendulum
end effector
fuzzy controller
neural network controller
biped robot
hand eye
force feedback
dynamic model
control law
induction motor
human operators
service robots
robot teams
robot navigation
real robot
trajectory tracking
kinematic model
dynamic environments
robot arm
degrees of freedom
humanoid robot
path planning
feedback control
vision system
disturbance rejection
adaptive control
multi robot
control theory
reference trajectory
biped walking
fuzzy control
changing environment