Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws.
Salman FarajiLuca ColasantoAuke Jan IjspeertPublished in: IROS (2015)
Keyphrases
- sensor fusion
- control law
- humanoid robot
- inverse dynamics
- nonlinear systems
- motion planning
- mobile robot
- control algorithm
- control scheme
- adaptive control
- joint space
- closed loop
- control strategy
- multi modal
- visual servoing
- robot arm
- control system
- multi sensor
- autonomous robots
- inertial sensors
- real robot
- real time
- end effector
- monitoring system
- motion capture
- control method
- human motion
- path planning
- variable structure
- fuzzy controller
- degrees of freedom
- mathematical model
- dynamic model
- inverse kinematics
- dynamical systems
- spatio temporal
- three dimensional