Robust adaptive motion/force control of uncertain nonholonomic mechanical systems.
Chun-Yi SuMasahiro OyaRyozo KatohPublished in: ACC (2001)
Keyphrases
- mechanical systems
- motion planning
- force control
- control law
- trajectory planning
- kinematic model
- humanoid robot
- degrees of freedom
- robot manipulators
- mobile robot
- path planning
- inverse kinematics
- control strategy
- closed loop
- gait analysis
- multi robot
- motion model
- end effector
- image sequences
- visual servoing
- control scheme
- motion analysis
- three dimensional
- control architecture
- dynamic model
- object detection
- impedance control