Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid.
Yuya NagamatsuTakuma ShiraiHiroto SuzukiYohei KakiuchiKei OkadaMasayuki InabaPublished in: IROS (2017)
Keyphrases
- low latency
- control algorithm
- feedback loop
- position control
- induction motor
- control strategy
- control system
- long running
- control scheme
- robotic manipulator
- high bandwidth
- high throughput
- high speed
- force control
- closed loop
- contact force
- highly efficient
- master slave
- real time
- distributed systems
- context aware
- relational databases