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