Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid.
Takuma HiraokaShimpei SatoNaoki HiraokaAnnan TangKunio KojimaKei OkadaMasayuki InabaKoji KawasakiPublished in: IROS (2023)
Keyphrases
- position control
- closed loop
- degrees of freedom
- robotic manipulator
- humanoid robot
- control scheme
- control system
- force control
- control strategies
- end effector
- disturbance rejection
- impedance control
- robot arm
- robotic systems
- control algorithm
- pid controller
- feedback control
- dc motor
- fault diagnosis
- motion planning
- control strategy
- control law
- visual servoing
- feedback loop
- robot control
- real time
- pose estimation
- multi modal
- fuzzy logic
- induction motor
- robot manipulators
- controller design
- robotic arm
- mobile robot
- pid control
- dynamic model
- expert systems
- intelligent control