Unmanned coaxial rotorcraft force and position control for physical interaction through contact.
Kostas AlexisChristoph HürzelerRoland SiegwartPublished in: MED (2013)
Keyphrases
- position control
- control scheme
- robotic manipulator
- force control
- closed loop
- control system
- control strategies
- robot arm
- impedance control
- tactile sensing
- degrees of freedom
- dc motor
- contact force
- end effector
- pid controller
- feedback loop
- force feedback
- human computer interaction
- pose estimation
- fuzzy logic
- control strategy
- vision system
- visual servoing
- control architecture
- reinforcement learning
- control law
- boundary conditions