Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation.
Bajwa R. P. SinghP. V. ManivannanPhilipp BeckerlePublished in: AIM (2015)
Keyphrases
- motion control
- control system
- kinematic model
- mobile robot
- contact force
- impedance control
- robot control
- autonomous robots
- physical constraints
- real time
- autonomous navigation
- trajectory tracking
- degrees of freedom
- multi sensor
- particle swarm optimization
- mathematical model
- robust estimation
- control algorithm
- finite element analysis
- visual servoing
- control law
- fuzzy control
- motion field