Deformation Compensation for Continuous Force Control of a Wall Climbing Quadruped with Reduced-DOF.
Yusuke OtaToru KugaKan YonedaPublished in: ICRA (2006)
Keyphrases
- force control
- position control
- robot manipulators
- climbing robot
- contact force
- closed loop
- robotic cell
- motion planning
- control strategy
- control law
- impedance control
- end effector
- degrees of freedom
- control scheme
- real time
- path planning
- neural network
- boundary conditions
- inverse kinematics
- dynamical systems
- mathematical model
- fuzzy logic
- artificial neural networks