Achieving Mechanical Transparency Using Fusion Hybrid Linear Actuator for Shoulder Flexion and Extension in Exoskeleton Robot.
Takuma ShimoyamaTomoyuki NodaTatsuya TeramaeYoshihiro NakataPublished in: ICRA (2024)
Keyphrases
- position control
- robotic manipulator
- direct drive
- control scheme
- closed loop
- force control
- lower extremity
- control system
- robot arm
- end effector
- mobile robot
- dc motor
- control strategies
- degrees of freedom
- robot manipulators
- robotic systems
- joint space
- control law
- feedback loop
- visual servoing
- vision system
- control architecture
- humanoid robot
- multi robot
- neural network
- position and orientation
- pid controller
- mechanical design
- dynamic model
- data fusion
- reinforcement learning