Antagonistic Impedance Control for Pneumatically Actuated Robot Joints.
Alexander ToedtheideTorsten LilgeSami HaddadinPublished in: IEEE Robotics Autom. Lett. (2016)
Keyphrases
- force control
- impedance control
- robot manipulators
- contact force
- closed loop
- position control
- manipulation tasks
- control strategy
- human body
- control law
- inverse kinematics
- control architecture
- degrees of freedom
- path planning
- control structure
- end effector
- master slave
- computer vision
- autonomous robots
- image sequences
- dynamic model
- robotic manipulator
- robotic arm
- joint angles
- humanoid robot
- control scheme
- finite element model
- machine learning
- control strategies
- pid controller