Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control.
Yifan HouMatthew T. MasonPublished in: ICRA (2019)
Keyphrases
- end effector
- optical flow
- sagittal plane
- plan execution
- highly dynamic environments
- force feedback
- motion model
- control signals
- image sequences
- velocity field
- robotic manipulator
- motion control
- position control
- robust tracking
- motion estimation
- control system
- constant velocity
- control rules
- ego motion
- impedance control
- plan generation
- human motion
- camera motion
- velocity vector
- space time
- master slave
- motion parameters
- motion segmentation
- degrees of freedom
- motion analysis
- inverse kinematics
- robot manipulators
- contact force
- robot arm
- optical flow estimation
- robust estimation
- image velocity
- control strategy