Variable impedance control with virtual stiffness for human-robot cooperative peg-in-hole task.
Toru TsumugiwaRyuichi YokogawaKei HaraPublished in: IROS (2002)
Keyphrases
- impedance control
- human robot
- cooperative
- human robot interaction
- manipulation tasks
- robotic systems
- force control
- model free
- humanoid robot
- dialogue system
- optimal control
- action selection
- human users
- virtual reality
- position control
- artificial life
- gesture recognition
- domain knowledge
- multi agent
- motion planning
- real time
- control strategy
- multi modal
- vision system
- control system
- motor control
- multi agent systems
- natural language
- reinforcement learning
- artificial intelligence