Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots.
Herve AudrenAbderrahmane KheddarPierre GergondetPublished in: Humanoids (2016)
Keyphrases
- force control
- humanoid robot
- contact force
- robot manipulators
- motion planning
- closed loop
- walking speed
- robotic cell
- impedance control
- control law
- manipulation tasks
- control strategy
- multi modal
- motor control
- motor skills
- human robot interaction
- motion capture
- using artificial neural networks
- pose estimation
- real time