Combined inverse-dynamics/passivity-based control for robots with elastic joints.
Andrea GiustiJörn MalzahnNikolaos G. TsagarakisMatthias AlthoffPublished in: ICRA (2017)
Keyphrases
- inverse dynamics
- autonomous robots
- parallel manipulator
- robotic systems
- impedance control
- control system
- robot control
- mobile robot
- degrees of freedom
- optimal control
- control method
- adaptive control
- neural network
- human motion
- control parameters
- nonlinear systems
- multi robot
- sliding mode
- control strategy
- evolutionary algorithm