Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface.
Fuyuki SatoTatsuya NishiiJun TakahashiYuki YoshidaMasaru MitsuhashiDragomir N. NenchevPublished in: IROS (2011)
Keyphrases
- humanoid robot
- experimental evaluation
- reference trajectory
- motion planning
- robot motion
- walking speed
- control law
- impedance control
- closed loop
- biologically inspired
- biped walking
- manipulation tasks
- trajectory tracking
- trajectory planning
- real time
- multi modal
- head movements
- neural network controller
- robotic manipulator
- control system
- motion capture
- human robot interaction
- configuration space
- control scheme
- joint space
- tracking error
- three dimensional
- particle filter
- motor control
- fully autonomous
- human robot
- real robot
- human motion
- pid controller
- d objects
- image sequences
- mobile robot
- path planning
- appearance model
- imitation learning
- control method
- contact force
- motion trajectories
- body movements