Kinematic modeling and observer based control of soft robot using real-time Finite Element Method.
Zhongkai ZhangJérémie DequidtAlexandre KruszewskiFrederick LargilliereChristian DuriezPublished in: IROS (2016)
Keyphrases
- real time
- finite element method
- control signals
- end effector
- control system
- vision system
- finite element
- robot control
- robotic systems
- numerical simulations
- wheeled mobile robots
- robot manipulators
- visual servoing
- degrees of freedom
- autonomous robots
- inverse kinematics
- mobile robot
- motion control
- parallel robot
- diffuse optical tomography
- numerical solution
- kinematic model
- joint space
- temperature field
- multiscale
- robot arm
- humanoid robot
- path planning
- optimization problems
- evolutionary algorithm
- image analysis