Simultaneous Motion and Stiffness Control for Soft Pneumatic Manipulators based on a Lagrangian-based Dynamic Model.
Yu MeiPreston FairchildVaibhav SrivastavaChangyong CaoXiaobo TanPublished in: ACC (2023)
Keyphrases
- dynamic model
- parallel manipulator
- degrees of freedom
- robot manipulators
- end effector
- force control
- experimental data
- controller design
- control system
- reduced order model
- trajectory tracking
- control scheme
- motion planning
- adaptive control
- inverse kinematics
- multiple models
- sliding mode
- impedance control
- predictive control
- image sequences
- robotic systems
- feedback control
- control theory
- control law
- human motion
- camera motion
- sliding surface
- pose estimation
- real time