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Minimization of the rate of change in torques during motion and force control under discontinuous constraints.
Yang Tan
Darwin Lau
Mingxing Liu
Philippe Bidaud
Vincent Padois
Published in:
ROBIO (2015)
Keyphrases
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force control
inverse dynamics
robot manipulators
contact force
dynamic model
inverse kinematics
camera motion
optical flow
end effector
image sequences
closed loop
real time
objective function
human motion
control strategy
control algorithm
moving objects
robotic cell