A modular and waterproof snake robot joint mechanism with a novel force/torque sensor.
Pål LiljebäckØyvind StavdahlKristin Ytterstad PettersenJan Tommy GravdahlPublished in: IROS (2012)
Keyphrases
- contact force
- position control
- force control
- finite element analysis
- robotic manipulator
- master slave
- control scheme
- force feedback
- mobile robot
- closed loop
- tactile sensing
- robot arm
- control system
- control strategies
- finite element model
- end effector
- vision sensor
- active contours
- sensor data
- sensor networks
- degrees of freedom
- pid controller
- external forces
- autonomous mobile robot
- modular robots
- b spline
- robot manipulators
- active contour model
- feedback loop
- robotic arm
- sensory information
- level set
- vision system
- control architecture
- motion planning
- real time
- robot teams
- force sensing
- action selection mechanism