Dynamics based motion optimization and operational space control with an experimental rescue robot, HUBO T-100.
Seongil HongYoungwoo LeeKyu Hyun ParkWonsuk LeeByunghun ChoiOkkee SimInhyeok KimJun-Ho OhYoun Sik KangPublished in: AIM (2015)
Keyphrases
- motion control
- control signals
- end effector
- space time
- sagittal plane
- mobile robot
- robot motion
- physical constraints
- robot control
- humanoid robot
- joint space
- autonomous robots
- robot manipulators
- inverse kinematics
- kinematic model
- hand eye
- configuration space
- visual servoing
- search and rescue
- robotic systems
- motion planning
- hand eye calibration
- image sequences
- motion analysis
- control system
- robotic arm
- wheel slip
- control loop
- trajectory tracking
- robot arm
- degrees of freedom
- vision system
- dynamic model
- autonomous navigation
- motion estimation
- parallel robot
- path planning
- home environment
- urban search and rescue
- joint angles
- optical flow
- position and orientation
- highly nonlinear
- moving objects
- monocular vision
- motor learning
- mechanical systems
- robot moves
- air fuel ratio
- video sequences
- human body
- robot behavior
- dynamical systems
- point correspondences
- tracking error
- human motion
- control strategy
- multi robot
- control scheme
- control architecture
- autonomous vehicles
- spatial structure