Joint kinematic configuration influence on the passivity of an impedance-controlled robotic leg.
Felipe Y. G. HigaGustavo J. G. LahrGlauco A. P. CaurinThiago BoaventuraPublished in: ICRA (2019)
Keyphrases
- position control
- joint angles
- degrees of freedom
- kinematic constraints
- impedance control
- end effector
- configuration space
- human body
- robotic manipulator
- feedback loop
- real time
- inverse kinematics
- robotic systems
- joint space
- mobile robot
- robotic arm
- robot arm
- parallel robot
- trajectory planning
- closed loop
- motion capture
- optimal configuration
- robot motion
- force control
- control scheme
- parallel manipulator
- humanoid robot
- position and orientation
- inverse dynamics