Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots.
Maja TrumicGiorgio GrioliKosta JovanovicAdriano FagioliniPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- position control
- control scheme
- robotic manipulator
- contact force
- force control
- tactile sensing
- impedance control
- closed loop
- control system
- high degree of freedom
- control strategies
- feedback loop
- robotic systems
- robot arm
- control algorithm
- mobile robot
- dc motor
- degrees of freedom
- end effector
- cooperative
- human body
- parameter estimation
- control strategy
- joint space
- estimation algorithm
- estimation accuracy
- master slave
- legged robots
- autonomous robots
- robotic agents
- multi robot
- robot manipulators
- control law
- external forces
- vision system