Robotic Deep Rolling With Iterative Learning Motion and Force Control.
Shuyang ChenZhigang WangAbhijit ChakrabortyMichael KleckaGlenn SaundersJohn T. WenPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- iterative learning
- force control
- robot manipulators
- position control
- iterative learning control
- contact force
- inverse kinematics
- closed loop
- impedance control
- motion planning
- manipulation tasks
- control strategy
- robotic systems
- control law
- end effector
- camera motion
- mobile robot
- incremental learning
- image sequences
- real time
- error reduction
- human motion
- motion capture
- humanoid robot
- robotic arm
- control architecture
- control scheme
- dynamic model
- mathematical model
- active learning