Preliminary result on passivity boundary of inertia scaling control for human interactive robot.
Kwangmin KimJuhyeok KimMyungsin KimDongjun LeePublished in: URAI (2015)
Keyphrases
- human operators
- robot behavior
- human robot interaction
- human robot
- robotic systems
- robot manipulators
- autonomous robots
- robot control
- mobile robot
- home environment
- lower extremity
- human friendly
- trajectory tracking
- hand eye
- sliding mode
- natural interaction
- force control
- robotic manipulator
- control system
- motion control
- vision system
- robotic arm
- visual servoing
- joint space
- control scheme
- guided exploration
- physical constraints
- robot motion
- control theory
- control architecture
- adaptive control
- control method
- optimal control
- real time