Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots.
Ahmad AlAttarIkhlas Mohamed Ben HmidaFederico RendaPetar KormushevPublished in: RoboSoft (2023)
Keyphrases
- kinematic model
- motion control
- position control
- tactile sensing
- mobile robot
- control system
- motion planning
- mechanical systems
- robotic manipulator
- robot arm
- control scheme
- force control
- robotic systems
- robot control
- autonomous robots
- closed loop
- humanoid robot
- multi robot
- dc motor
- control strategies
- state estimation
- pid controller
- degrees of freedom
- feedback loop
- contact force
- real robot
- end effector
- control architecture
- autonomous navigation
- path planning
- control algorithm
- control strategy
- real time
- physical constraints
- position and orientation
- dynamic model