Free and Constrained Motion Teleoperation via Naturally-Transitioning Rate-to-Force Control.
Robert L. Williams IIJason M. HenryMark A. MurphyDaniel W. ReppergerPublished in: ICRA (1999)
Keyphrases
- force control
- robot manipulators
- end effector
- closed loop
- inverse kinematics
- robotic cell
- control architecture
- image sequences
- optical flow
- camera motion
- human motion
- control strategy
- control law
- contact force
- force feedback
- motion planning
- motion capture
- control system
- computer vision
- control scheme
- master slave
- humanoid robot
- dynamical systems
- position control
- moving objects
- impedance control