Motion Control With Stiffness Adaptation for Torque Minimization in Multijoint Robots.
Mitsunori UemuraHidemasa GoyaSadao KawamuraPublished in: IEEE Trans. Robotics (2014)
Keyphrases
- motion control
- mobile robot
- control algorithm
- control system
- autonomous robots
- physical constraints
- feedback loop
- position control
- robot control
- autonomous navigation
- robotic soccer
- contact force
- objective function
- real robot
- control scheme
- visual servoing
- control strategy
- dynamic environments
- finite element model
- robotic systems
- closed loop
- robotic manipulator
- path planning
- real world