Towards Safe Human-Robot Interaction: Joint Impedance Control of a New Teleoperated Robot Arm.
Dzmitry TsetserukouRiichiro TadakumaHiroyuki KajimotoNaoki KawakamiSusumu TachiPublished in: RO-MAN (2007)
Keyphrases
- robot arm
- human robot interaction
- position control
- impedance control
- manipulation tasks
- motion planning
- end effector
- humanoid robot
- robotic arm
- force feedback
- gesture recognition
- inverse kinematics
- control strategies
- position and orientation
- degrees of freedom
- service robots
- force control
- joint angles
- control law
- nonlinear systems
- multi modal
- real robot
- closed loop
- spatio temporal
- real time
- robotic manipulator
- path planning
- mobile robot