Online Estimation of 2D Human Arm Stiffness for Peg-in-Hole Tasks with Variable Impedance Control.

Huayang Wu Hanwen Yang Yanan Li

Published in: IROS (2023)

Keyphrases

impedance control
manipulation tasks
human arm
end effector
robotic arm
force control
model free
optimal control
robot navigation
inverse kinematics
real time
motion planning
degrees of freedom
function approximation