The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments.
Richard VolpePradeep K. KhoslaPublished in: ISER (1991)
Keyphrases
- control theory
- impedance control
- force control
- control law
- optimal control
- closed loop
- model free
- dynamical systems
- control strategy
- position control
- manipulation tasks
- linear systems
- differential equations
- control scheme
- control system
- humanoid robot
- control algorithm
- adaptive control
- robot manipulators
- visual servoing
- robot arm
- computer vision
- reinforcement learning
- multi modal
- nonlinear systems