Full-body Grasping Strategy for Planar Underactuated Soft Manipulators using Passivity-based Control.
Hoang Khanh ChuBrandon CaasenbroodMahboubeh KeyvanaraIrene A. KulingHenk NijmeijerPublished in: RoboSoft (2023)
Keyphrases
- closed loop
- trajectory tracking
- control law
- control system
- sliding mode
- control theory
- adaptive control
- control scheme
- mechanical systems
- variable structure
- nonlinear systems
- parallel manipulator
- robotic systems
- pid controller
- control method
- degrees of freedom
- process control
- human body
- vision system
- camera calibration
- real time
- control architecture
- master slave
- motion planning
- body parts
- receding horizon
- control theoretic