Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators.
Riccardo ParosiMattia RisiglioneDarwin G. CaldwellClaudio SeminiVictor BarasuolPublished in: IROS (2023)
Keyphrases
- visual servoing
- vision system
- control law
- impedance control
- end effector
- robotic manipulator
- manipulation tasks
- image based visual servoing
- force control
- mobile robot
- degrees of freedom
- motion planning
- position control
- robotic arm
- model free
- closed loop
- adaptive control
- control scheme
- control algorithm
- robotic systems
- d objects
- visual feedback
- path planning
- reinforcement learning
- image space
- moving objects
- camera motion
- master slave
- control strategy
- real time
- optimization algorithm
- autonomous robots