Smooth Transition from Motion to Force Control in Robotic Manipulation Using Vision.
Olli AlkkiomäkiVille KyrkiHeikki KälviäinenYong LiuHeikki HandroosPublished in: ICARCV (2006)
Keyphrases
- force control
- manipulation tasks
- robot manipulators
- end effector
- impedance control
- position control
- motion planning
- inverse kinematics
- contact force
- robotic cell
- real time
- image sequences
- closed loop
- humanoid robot
- vision system
- robotic systems
- control law
- computer vision
- neural network
- robotic manipulator
- robotic arm
- motion capture
- control strategy
- human motion
- mobile robot
- degrees of freedom
- optical flow
- robot navigation
- control scheme
- dynamic model
- camera motion
- moving objects