Humanoid Robot's Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors.
Shintaro KomatsuYuya NagamatsuTatsuya IshikawaTakuma ShiraiKunio KojimaYohei KakiuchiFumihito SugaiKei OkadaMasayuki InabaPublished in: IROS (2019)
Keyphrases
- manipulation tasks
- humanoid robot
- end effector
- impedance control
- position control
- contact force
- joint space
- degrees of freedom
- motion planning
- robot arm
- robotic manipulator
- vision system
- force feedback
- force control
- robot navigation
- robotic arm
- robot manipulators
- master slave
- human robot interaction
- inverse kinematics
- multi modal
- control scheme
- closed loop
- real robot
- visual servoing
- real time
- robotic systems
- robot motion
- dc motor
- control algorithm
- sensor networks
- control law
- control strategy
- human motion
- human computer interaction
- mobile robot