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Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach.
Ramy Rashad
Johan B. C. Engelen
Stefano Stramigioli
Published in:
ICRA (2019)
Keyphrases
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impedance control
force control
robot manipulators
control system
optimal control
closed loop
control strategy
control scheme
control law
neural network
model free
manipulation tasks
virtual reality
control algorithm
position control