Whole-body cooperative force control for a two-armed and two-wheeled mobile robot using Generalized Inverse Dynamics and Idealized Joint Units.
Ken'ichiro NagasakaYasunori KawanamiSatoru ShimizuTakashi KitoToshimitsu TsuboiAtsushi MiyamotoTetsuharu FukushimaHideki ShimomuraPublished in: ICRA (2010)
Keyphrases
- force control
- inverse dynamics
- wheeled mobile robot
- cooperative
- control algorithm
- control law
- nonlinear systems
- control strategy
- control system
- position control
- closed loop
- robot manipulators
- parallel manipulator
- control method
- adaptive control
- control scheme
- control architecture
- optimal control
- visual servoing
- robot arm
- fuzzy controller
- expert systems
- multi agent
- dynamic environments
- model free
- fuzzy model