Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots.
Juan Miguel García-HaroBernd HenzeGeorge MesesanSantiago Martínez de la Casa DíazChristian OttPublished in: Humanoids (2019)
Keyphrases
- humanoid robot
- manipulation tasks
- impedance control
- joint space
- motion planning
- walking speed
- multi modal
- biologically inspired
- control theory
- human robot interaction
- robotic arm
- control algorithm
- biped walking
- contact force
- motion capture
- control scheme
- control system
- human motion
- human robot
- spatio temporal
- imitation learning
- dynamic model
- motor control
- optimal control
- body movements
- real robot
- robotic manipulator
- induction motor
- robot arm
- closed loop
- feedback loop