Design and Hierarchical Force-Position Control of Redundant Pneumatic Muscles-Cable-Driven Ankle Rehabilitation Robot.
Quan LiuJie ZuoChengxiang ZhuWei MengQingsong AiSheng Quan XiePublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- position control
- force control
- robot arm
- robot manipulators
- degrees of freedom
- end effector
- robotic manipulator
- closed loop
- control system
- tactile sensing
- control scheme
- vision system
- impedance control
- control strategies
- motion planning
- position and orientation
- inverse kinematics
- contact force
- humanoid robot
- robotic systems
- real time