Model-based tracking and hybrid force/vision control for the UJI librarian robot.
Mario PratsPedro J. SanzAngel P. del PobilPublished in: IROS (2005)
Keyphrases
- model based tracking
- position control
- vision system
- end effector
- robotic manipulator
- force control
- visual servoing
- sagittal plane
- robotic systems
- robot manipulators
- robot control
- force feedback
- closed loop
- control system
- autonomous robots
- control strategies
- mobile robot
- force sensing
- real time
- control signals
- computer vision
- visual feedback
- hand eye
- control scheme
- inverse kinematics
- motion control
- robot behavior
- control strategy
- impedance control
- control architecture
- robotic arm
- tactile sensing
- image processing
- degrees of freedom
- home environment
- human operators
- robot arm
- motor learning
- path planning
- visually guided
- obstacle avoidance
- service robots
- inverted pendulum
- sensory motor
- manipulation tasks
- image sequences
- walking robot