Virtual impedance adjustment in unconstrained motion for an exoskeletal robot assisting the lower limb.
Suwoong LeeYoshiyuki SankaiPublished in: Adv. Robotics (2005)
Keyphrases
- humanoid robot
- joint angles
- motion planning
- motion control
- inverse kinematics
- parallel robot
- mobile robot
- autonomous navigation
- position and orientation
- end effector
- robot motion
- configuration space
- sagittal plane
- virtual reality
- vision sensors
- robotic tasks
- hand eye calibration
- motion model
- monocular vision
- motion capture
- image sequences
- space time
- motion analysis
- human motion
- optical flow
- upper body
- augmented reality
- human robot interaction
- robot arm
- control signals
- physical constraints
- virtual world
- robot navigation
- path planning
- virtual environment
- degrees of freedom
- vision sensor
- force feedback
- camera motion
- collision free
- moving objects
- robot control
- robot moves
- position control
- motion field
- rough terrain
- three dimensional
- video sequences
- robotic systems
- motion estimation
- feature points
- human body
- visual servoing
- real robot
- autonomous robots
- multi robot