Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint.
Alexander ToedtheideErfan ShahriariSami HaddadinPublished in: ICRA (2017)
Keyphrases
- position control
- force control
- impedance control
- control scheme
- robot manipulators
- control system
- closed loop
- control strategy
- control law
- contact force
- robotic manipulator
- robot arm
- dynamic model
- end effector
- fuzzy controller
- induction motor
- inverse kinematics
- nonlinear systems
- control architecture
- real time
- control strategies
- biologically inspired
- degrees of freedom
- reinforcement learning