Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system.
Sehoon OhYasuto KimuraYoichi HoriPublished in: IROS (2010)
Keyphrases
- robot arm
- force control
- control law
- robot manipulators
- inverse kinematics
- position control
- control strategy
- closed loop
- control strategies
- motion planning
- end effector
- control algorithm
- nonlinear systems
- control system
- mathematical model
- fault diagnosis
- control scheme
- position and orientation
- adaptive control
- visual servoing
- force feedback
- three dimensional
- path planning
- optimal control
- dynamical systems
- human motion
- multi objective