Design and torque-mode control of a cable-driven rotary series elastic actuator for subject-robot interaction.
Junkai LuKevin HaningerWenjie ChenMasayoshi TomizukaPublished in: AIM (2015)
Keyphrases
- position control
- control method
- human robot interaction
- control system
- real time
- mobile robot
- human robot
- multi robot
- hand eye
- experimental platform
- controller design
- autonomous robots
- control strategy
- vision system
- control strategies
- visual servoing
- intelligent control
- feedback control
- feedback loop
- robotic systems
- interaction design
- motion control
- dynamic model
- path planning
- external forces