Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance.
Shunki ItaderaEmmanuel C. Dean-LeonJun NakanishiYasuhisa HasegawaGordon ChengPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- robotic manipulator
- robotic systems
- human computer interaction
- visual feedback
- position control
- autonomous robots
- force feedback
- human operators
- gaze control
- object manipulation
- perception action
- robotic arm
- impedance control
- control loop
- control system
- optimization algorithm
- mobile robot
- force control
- control scheme
- legged robots
- biped robot
- virtual space
- real time
- optimization problems
- contact force
- robot arm
- visual servoing
- physical world
- optimal control
- control strategy
- virtual environment
- user interaction
- hand eye
- sagittal plane