Hybrid impedance control for multi-segmented inspection robot Kairo-II.
Clemens BirkenhoferS. StuderJohann Marius ZöllnerRüdiger DillmannPublished in: ICINCO-RA (2006)
Keyphrases
- impedance control
- position control
- force control
- manipulation tasks
- robot manipulators
- control scheme
- robot arm
- mobile robot
- human robot interaction
- end effector
- robot control
- humanoid robot
- robotic manipulator
- vision system
- closed loop
- robotic systems
- robot navigation
- human operators
- motion planning
- pid controller
- dc motor
- control strategy
- control system
- motor control
- optimal control
- feedback loop
- computer vision
- control law
- changing environment