Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin.
Alexander DietrichKristin BussmannFlorian PetitPaul KotyczkaChristian OttBoris LohmannAlin Albu-SchäfferPublished in: Auton. Robots (2016)
Keyphrases
- humanoid robot
- stability analysis
- impedance control
- manipulation tasks
- motion planning
- nonlinear systems
- control law
- biologically inspired
- adaptive control
- force control
- motor control
- multi modal
- human robot interaction
- inverted pendulum
- mobile robot
- robotic arm
- motion capture
- human motion
- path planning
- robotic systems
- robot arm
- model free
- optimal control
- degrees of freedom
- stability margin
- real robot
- master slave
- autonomous robots
- closed loop
- visual servoing
- particle swarm optimization
- learning algorithm
- neural network
- genetic algorithm