Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot.
James ArnoldHyunglae LeePublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- impedance control
- force control
- manipulation tasks
- mobile robot
- robot manipulators
- robot navigation
- lower extremity
- human robot interaction
- vision system
- path planning
- sensor networks
- human computer interaction
- inverse kinematics
- autonomous robots
- genetic algorithm
- position and orientation
- humanoid robot
- closed loop
- activity recognition
- real time
- motion planning
- biologically inspired
- robotic systems
- limit cycle
- position control
- multi modal