Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators.
Riccardo ParosiMattia RisiglioneDarwin G. CaldwellClaudio SeminiVictor BarasuolPublished in: CoRR (2023)
Keyphrases
- visual servoing
- vision system
- control law
- impedance control
- manipulation tasks
- robotic manipulator
- image based visual servoing
- end effector
- force control
- robotic systems
- mobile robot
- motion planning
- robotic arm
- position control
- closed loop
- position and orientation
- degrees of freedom
- model free
- path planning
- optimal control
- control system
- adaptive control
- robot control
- camera motion
- master slave
- control strategy
- dynamical systems
- control scheme
- moving objects
- control algorithm
- computer vision
- robot navigation
- visual feedback
- machine learning
- image space
- image sequences