Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage.
Mahdi KhoramshahiGustav HenriksAileen NaefSeyed Sina Mirrazavi SalehianJoonyoung KimAude BillardPublished in: ICRA (2020)
Keyphrases
- dynamical systems
- tactile sensing
- hand motion
- robotic arm
- degrees of freedom
- contact force
- gesture recognition
- state space
- nonlinear dynamical systems
- mobile robot
- real time
- hand gestures
- sign language
- three dimensional
- end effector
- robotic systems
- hand tracking
- range data
- reinforcement learning
- predictive state representations
- hand postures
- hand pose
- motion planning
- video images
- control law
- face detection
- computer vision
- learning algorithm