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6D workspace constraints for physical human-robot interaction using invariance control with chattering reduction.
Melanie Kimmel
Martin Lawitzky
Sandra Hirche
Published in:
IROS (2012)
Keyphrases
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human robot interaction
human robot
gaze control
gesture recognition
control system
robot programming
physical constraints
sliding mode
sliding mode control
service robots
human centered
humanoid robot
control theory
manipulation tasks
control method
pointing gestures
decision making
optimal control
control strategy