A vision/position/force control approach for performing assembly tasks with a humanoid robot.

Pierre Dauchez Philippe Fraisse François Pierrot

Published in: Humanoids (2005)

Keyphrases

humanoid robot
force control
position control
robot manipulators
motion planning
control strategy

multi modal
control law
closed loop
end effector
vision system
computer vision

human robot interaction
real time
inverse kinematics
motion capture
control scheme
pid controller

control method
human motion
real robot
fuzzy rules
control system
reinforcement learning