Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control.
Yifan HouMatthew T. MasonPublished in: CoRR (2019)
Keyphrases
- sagittal plane
- end effector
- optical flow
- force feedback
- motion control
- plan execution
- position control
- plan generation
- highly dynamic environments
- kinematic model
- control rules
- robust tracking
- image sequences
- space time
- degrees of freedom
- control signals
- velocity field
- motion estimation
- control system
- constant velocity
- velocity vector
- impedance control
- inverse kinematics
- motion analysis
- vision system
- joint angles
- moving observer
- motion field
- control method
- robot motion
- visual servoing
- visual feedback
- robust estimation
- force control
- position and orientation
- motion segmentation
- human motion
- robotic manipulator
- angular velocity
- haptic device
- robotic arm
- motion model