A novel passivity-based control law for safe human-robot coexistence.
Andrea Maria ZanchettinBakir LacevicPaolo RoccoPublished in: IROS (2012)
Keyphrases
- control law
- human robot
- sliding mode
- trajectory tracking
- closed loop
- humanoid robot
- human robot interaction
- motion planning
- control system
- nonlinear systems
- control algorithm
- variable structure
- control scheme
- dialogue system
- control theory
- control strategy
- adaptive control
- visual servoing
- optimal control
- dynamical systems
- robotic systems
- action selection
- autonomous robots
- human users
- control parameters
- pid controller
- linear model
- control method
- artificial life
- adaptive fuzzy
- dynamic model
- force control
- mathematical model
- human computer interaction
- real time
- stability analysis
- adaptive neural
- spatio temporal