Force control for hexapod walking robot with torque observer.
Tetsuya HoriHisato KobayashiKatsuhiko InagakiPublished in: IROS (1994)
Keyphrases
- force control
- walking robot
- contact force
- position control
- legged robots
- control strategy
- robot manipulators
- control scheme
- control algorithm
- control law
- closed loop
- robotic cell
- master slave
- control system
- finite element analysis
- impedance control
- dynamic model
- control method
- finite element model
- force feedback
- mathematical model
- control architecture
- pid controller
- boundary conditions
- reinforcement learning