Operability Improvement of Human-Robot Collaboration by Human-Adaptive Impedance Control Based on Human Arm Stiffness Estimation.
Miho ShimizuMisaki HanafusaJun IshikawaPublished in: AMC (2021)
Keyphrases
- human arm
- human robot
- impedance control
- human robot interaction
- end effector
- manipulation tasks
- robotic systems
- position control
- force control
- dialogue system
- humanoid robot
- degrees of freedom
- control scheme
- action selection
- robotic arm
- model free
- robot manipulators
- human users
- optimal control
- robot arm
- motor control
- vision system
- three dimensional
- control strategy
- robotic manipulator
- multi modal
- mobile robot
- gesture recognition
- closed loop
- reinforcement learning