Impedance control of redundant drive joints with double actuation.
Kiyoshi NagaiYasuto ShiigiYosuke IkegamiRui LoureiroWilliam S. HarwinPublished in: ICRA (2009)
Keyphrases
- impedance control
- degrees of freedom
- position control
- force control
- manipulation tasks
- end effector
- model free
- motion planning
- optimal control
- contact force
- control algorithm
- human motion
- robotic manipulator
- human body
- control scheme
- mathematical model
- control system
- reinforcement learning
- control strategy
- robotic systems
- neural network
- closed loop
- learning tasks
- pose estimation