Passivity based control of hydraulic robot arms using natural Casimir functions: Theory and experiments.
Satoru SakaiStefano StramigioliPublished in: IROS (2008)
Keyphrases
- control system
- trajectory tracking
- control method
- control theory
- autonomous robots
- robot control
- mobile robot
- robotic systems
- hand eye
- robot manipulators
- control signals
- visual servoing
- motion control
- human robot interaction
- closed loop
- walking robot
- multi robot
- impedance control
- robotic manipulator
- robotic arm
- sliding mode
- vision system
- end effector
- manipulation tasks
- robot navigation
- force control
- control architecture
- formation control
- robot teams
- robot motion
- skill learning
- robot behavior
- sagittal plane
- path planning
- biped robot
- adaptive control
- motor learning
- autonomous vehicles
- sensory motor
- legged robots
- home environment
- inverse kinematics
- highly nonlinear