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Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL.

Koushil SreenathHae-Won ParkIoannis PoulakakisJ. W. Grizzle
Published in: Int. J. Robotics Res. (2013)
Keyphrases
  • force control
  • robot manipulators
  • position control
  • closed loop
  • control strategy
  • dynamic model
  • control law
  • real time
  • fuzzy logic
  • robotic cell