Independent torque and stiffness adjustment of a pneumatic direct rotary soft-actuator for adaptable human-robot-interaction.
David BaidenOleg IvlevPublished in: RAAD (2014)
Keyphrases
- human robot interaction
- position control
- force control
- control system
- robot arm
- control scheme
- human robot
- gesture recognition
- closed loop
- degrees of freedom
- feedback loop
- dynamic model
- human centered
- robot manipulators
- service robots
- robot programming
- pointing gestures
- control strategies
- control strategy
- contact force
- control algorithm
- humanoid robot
- dc motor
- end effector
- robotic manipulator
- natural interaction
- finite element analysis
- nonlinear systems
- pid controller
- moving objects
- expert systems