Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives.
Branko LukicKosta JovanovicPublished in: RAAD (2016)
Keyphrases
- impedance control
- force control
- manipulation tasks
- robot manipulators
- mobile robot
- robot navigation
- human robot interaction
- robotic systems
- end effector
- position control
- vision system
- humanoid robot
- model free
- closed loop
- control strategy
- robot control
- real time
- autonomous robots
- motion planning
- motor control
- position and orientation
- control law
- multi modal
- human activities
- learning algorithm
- service robots
- machine learning
- inverse kinematics
- particle swarm optimization
- robot arm
- visual servoing
- real robot