Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays.
Mattia RisiglioneJean-Pierre SleimanMaria Vittoria MinnitiBurak CizmeciDouwe DresscherMarco HutterPublished in: CoRR (2021)
Keyphrases
- force feedback
- robotic arm
- master slave
- robotic manipulator
- end effector
- trajectory tracking
- control system
- closed loop
- motion control
- impedance control
- control method
- robot manipulators
- sliding mode
- degrees of freedom
- disturbance rejection
- contact force
- force control
- control architecture
- inverted pendulum
- computer controlled
- haptic feedback
- robotic systems
- haptic device
- hand eye
- vision system
- robot arm
- visual servoing
- control strategy
- motion planning
- virtual reality
- legged locomotion
- inverse kinematics
- legged robots
- laparoscopic surgery
- human operators
- control scheme
- control algorithm
- haptic interaction
- mathematical model