Configuration space impedance control for continuum manipulators.
Lorenzo ToscanoValentin FalkenhahnAlexander HildebrandtFrancesco BraghinOliver SawodnyPublished in: ICARA (2015)
Keyphrases
- configuration space
- impedance control
- degrees of freedom
- motion planning
- manipulation tasks
- path planning
- end effector
- position control
- force control
- control law
- optimal control
- mobile robot
- humanoid robot
- robotic systems
- model free
- robot arm
- mathematical formalism
- pose estimation
- robotic arm
- robotic manipulator
- multi robot
- adaptive control
- robot navigation
- master slave
- dynamic environments
- contact force
- optical flow
- computer vision
- learning algorithm
- real time