Equivalence of resonance ratio and I-PD controllers in zero stiffness torque control for soft robot.
Yusuke KawaiYuki YokokuraKiyoshi OhishiKotaro SaitoAtsushi ShimamotoPublished in: IECON (2015)
Keyphrases
- position control
- impedance control
- control system
- control strategy
- force control
- robotic manipulator
- control scheme
- control strategies
- control loop
- manipulation tasks
- control algorithm
- robot manipulators
- contact force
- feedback loop
- trajectory tracking
- control architecture
- closed loop
- wheeled mobile robot
- end effector
- robot arm
- visual servoing
- control law
- optimal control
- mobile robot
- robotic systems
- dynamic model
- legged robots
- autonomous robots
- pid controller
- controller design
- master slave
- motion control
- robotic arm
- human operators
- robot control
- robot navigation
- vision system
- dc motor
- hand eye
- external forces
- control signals
- home environment
- neural network controller
- adaptive control
- evolutionary robotics
- control method
- real time
- mathematical model
- iterative learning control
- formation control
- joint space
- robot motion
- modular robots
- inverted pendulum
- biped robot
- reinforcement learning
- walking robot
- motor learning
- induction motor
- fuzzy logic controller
- position and orientation
- motion planning
- multi robot
- degrees of freedom