Hold My Hand: Development of a Force Controller and System Architecture for Joint Walking with a Companion Robot.
Enrique CoronadoToshifumi ShinyaGentiane VenturePublished in: Sensors (2023)
Keyphrases
- central pattern generator
- biped walking
- control architecture
- biped robot
- robotic manipulator
- humanoid robot
- position control
- real time
- force control
- mobile robot
- motion control
- cross platform
- reference trajectory
- walking robot
- control scheme
- architectural design
- robotic platform
- contact force
- control system
- closed loop
- software engineering
- robot manipulators
- control algorithm
- design principles
- software architecture
- end effector
- legged robots
- position and orientation
- robotic systems
- walking speed
- tactile sensing
- vision system