Hybrid impedance and admittance control for optimal robot-environment interaction.
Dexi YeChenguang YangYiming JiangHui ZhangPublished in: Robotica (2024)
Keyphrases
- mobile robot
- autonomous robots
- robotic systems
- position control
- human operators
- robot behavior
- mobile robotics
- human robot interaction
- robot control
- human robot
- home environment
- optimal control
- control architecture
- semi autonomous
- control system
- autonomous mobile robot
- physical world
- robot motion
- motion control
- operating environment
- control signals
- navigation tasks
- service robots
- robotic manipulator
- changing environment
- force control
- real environment
- reactive behavior
- robot manipulators
- indoor environments
- visual feedback
- robot navigation
- control policy
- real time
- visual servoing
- control loop
- unstructured environments
- robot teams
- multi robot
- force feedback
- control strategy
- obstacle avoidance
- control strategies
- control method
- control scheme
- path planning
- hand eye
- sensory information
- initially unknown
- simulated robot
- formation control
- legged robots
- robotic agents
- end effector
- autonomous vehicles
- closed loop
- dynamic environments
- vision system
- dynamic programming
- optimal solution
- walking robot
- modular robots
- robotic arm
- world model
- robot arm
- topological map