Passivity-based controllers for periodic motions of multi-joint robots with impact phenomena.
Mitsunori UemuraSadao KawamuraPublished in: IROS (2010)
Keyphrases
- impedance control
- high degree of freedom
- evolutionary robotics
- mobile robot
- manipulation tasks
- video sequences
- image sequences
- multi robot
- physical constraints
- adaptive control
- body motions
- trajectory tracking
- sliding mode
- legged robots
- model free
- humanoid robot
- human motion
- cooperative
- reinforcement learning
- controller design
- collision free
- control method
- modular robots
- control system
- optical flow
- iterative learning control
- moving objects