Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm.
Ren C. LuoYi-Wen PerngBo-Han ShihYun-Hsuan TsaiPublished in: ICRA (2013)
Keyphrases
- position control
- robot arm
- motion planning
- force control
- end effector
- inverse kinematics
- control law
- position and orientation
- control strategies
- degrees of freedom
- robot manipulators
- humanoid robot
- adaptive control
- nonlinear systems
- closed loop
- control strategy
- multi robot
- control system
- robotic arm
- multi modal
- least squares