Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery.
Hang SuShuai LiJagadesh ManivannanLuca BascettaGiancarlo FerrignoElena De MomiPublished in: ICRA (2019)
Keyphrases
- multi objective
- mobile robot
- robot control
- autonomous robots
- hand eye
- motion control
- visual servoing
- robotic systems
- robot manipulators
- multi robot
- robotic arm
- robot navigation
- control signals
- human robot interaction
- motion planning
- path planning
- real time
- humanoid robot
- position and orientation
- goal directed
- obstacle avoidance
- control architecture
- human robot
- semi autonomous
- skill learning
- robot teams
- home environment
- manipulation tasks
- force control
- formation control
- vision system
- robot arm
- human operators
- robot soccer
- hand eye calibration
- global optimization
- modular robots
- robotic manipulator
- computer controlled
- end effector
- control strategy
- force feedback
- legged robots
- mobile robotics
- dynamic environments
- optimization problems
- control system
- reinforcement learning
- neural network