Flexible FPGA-based controller architecture for five-fingered dexterous robot hand with effective impedance control.
Zhaopeng ChenNeal Y. LiiKe WuHong LiuZ. X. XueMinghe JinYiwei LiuShaowei FanT. LanPublished in: ROBIO (2009)
Keyphrases
- impedance control
- manipulation tasks
- object manipulation
- force control
- control architecture
- robot navigation
- humanoid robot
- robotic systems
- human robot interaction
- real time
- robot manipulators
- motion planning
- vision system
- position control
- mobile robot
- model free
- control strategy
- closed loop
- end effector
- path planning
- human computer interaction