Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation.
Xuming MengManuel KepplerChristian OttPublished in: ECC (2021)
Keyphrases
- impedance control
- structure preserving
- position control
- force control
- optimal control
- model free
- robotic manipulator
- manipulation tasks
- dimensionality reduction
- control scheme
- closed loop
- control strategies
- feedback loop
- mathematical model
- robotic systems
- control system
- control strategy
- degrees of freedom
- neural network
- robot manipulators
- pattern recognition