A passivity-based adaptive admittance control strategy for physical human-robot interaction in hands-on tasks.
Luca BascettaPublished in: CASE (2022)
Keyphrases
- control strategy
- human robot interaction
- service robots
- sliding mode
- manipulation tasks
- control system
- control method
- operating conditions
- control strategies
- control algorithm
- transient response
- gesture recognition
- control scheme
- control law
- robot programming
- human robot
- optimal control
- mathematical model
- pi control
- humanoid robot
- fuzzy controller
- speed control
- force control
- predictive control
- control architecture
- pi controller
- adaptive control
- matlab simulink
- sliding mode control
- variable structure
- pointing gestures
- artificial intelligence
- adaptive fuzzy
- real time
- natural interaction
- fuzzy control
- software engineering
- mobile robot
- neural network