Towards Vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV.
Ramy RashadDavide BicegoRan JiaoSantiago Sanchez-EscalonillaStefano StramigioliPublished in: IROS (2020)
Keyphrases
- impedance control
- force control
- contact force
- robot manipulators
- control strategy
- three dimensional
- optimal control
- model free
- vision system
- closed loop
- path planning
- real time
- control algorithm
- manipulation tasks
- dynamic environments
- position control
- control scheme
- mathematical model
- human computer interaction
- computer vision