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Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
Thomas Wimböck
Christian Ott
Alin Albu-Schäffer
Andreas Kugi
Gerd Hirzinger
Published in:
IROS (2008)
Keyphrases
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impedance control
position control
force control
model free
optimal control
manipulation tasks
robotic manipulator
control strategies
control strategy
control scheme
closed loop
motor control
human computer interaction
real time
robot manipulators
dc motor
dynamic programming
control system
learning algorithm