Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control.
Kazuki FukazawaNaoki HiraokaKunio KojimaShintaro NodaMasahiro BandoKei OkadaMasayuki InabaPublished in: IROS (2020)
Keyphrases
- contact force
- force feedback
- force control
- end effector
- master slave
- position control
- sagittal plane
- online learning
- degrees of freedom
- motion control
- optical flow
- external forces
- image sequences
- optical flow estimation
- control strategy
- haptic device
- inverse kinematics
- mobile robot
- robotic arm
- displacement estimation
- motion analysis
- finite element analysis
- robot arm
- visual servoing
- motion model
- space time
- dynamic environments
- control system
- feedback loop