Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators.
Nicholas ThompsonXiaotian ZhangFernando AyalaElizabeth T. Hsiao-WeckslerGirish KrishnanPublished in: ICRA (2018)
Keyphrases
- degrees of freedom
- position control
- force control
- control system
- joint space
- end effector
- joint angles
- robot arm
- robotic manipulator
- mathematical model
- motion planning
- pose estimation
- contact force
- control strategy
- path planning
- closed loop
- control scheme
- data sets
- control algorithm
- real time
- search engine
- impedance control
- robot manipulators
- finite element analysis
- control law
- knowledge base
- neural architectures