Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks.
Christopher SchindlbeckSami HaddadinPublished in: ICRA (2015)
Keyphrases
- impedance control
- manipulation tasks
- position control
- force control
- robotic systems
- robot navigation
- model free
- motion planning
- human robot interaction
- outer sheath
- service robots
- humanoid robot
- optimal control
- robotic manipulator
- multi robot
- closed loop
- control system
- robot arm
- end effector
- dc motor
- mobile robot
- learning algorithm
- control scheme
- control strategies
- real robot
- human activities
- reinforcement learning