Force/torque sensorless impedance control for indirect driven robot-aided gait rehabilitation system.
Quoc Van TranSehun KimKyunghwan LeeSungchul KangJeha RyuPublished in: AIM (2015)
Keyphrases
- position control
- impedance control
- force control
- control algorithm
- control strategy
- contact force
- control scheme
- biped robot
- robotic manipulator
- robot manipulators
- end effector
- manipulation tasks
- closed loop
- legged robots
- control system
- robot arm
- control strategies
- degrees of freedom
- feedback loop
- control law
- dc motor
- dynamic model
- robot navigation
- control architecture
- human computer interaction
- pid controller
- visual servoing
- robotic systems
- master slave
- joint angles
- human robot interaction
- induction motor
- virtual reality
- mobile robot
- finite element analysis
- fuzzy controller
- control method
- optimal control
- operating conditions
- pose estimation
- learning algorithm
- video sequences