Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-Hit II.
Zhaopeng ChenNeal Y. LiiThomas WimböckShaowei FanHong LiuPublished in: Int. J. Humanoid Robotics (2011)
Keyphrases
- manipulation tasks
- impedance control
- experimental evaluation
- humanoid robot
- force control
- robot navigation
- position control
- object manipulation
- human hand
- human robot interaction
- mobile robot
- robotic systems
- motion planning
- end effector
- autonomous robots
- robot manipulators
- robot arm
- control scheme
- path planning
- human activities
- closed loop
- service robots
- finite element analysis
- degrees of freedom
- robot control
- radial basis function
- multi robot
- biologically inspired
- vision system