ASAH: An arc-surface-adsorption hexapod robot with a motion control scheme.
Congjun MaSongyi DianBin GuoJianglong SunPublished in: J. Field Robotics (2024)
Keyphrases
- control scheme
- robot manipulators
- inverse kinematics
- end effector
- control loop
- parallel manipulator
- human arm
- closed loop
- dynamic model
- humanoid robot
- control law
- control system
- robotic manipulator
- control strategy
- force control
- configuration space
- motion planning
- predictive control
- controller design
- robotic arm
- degrees of freedom
- tracking error
- sliding mode control
- position and orientation
- visual servoing
- pid controller
- fuzzy controller
- mobile robot
- d objects
- human motion
- optical flow
- force feedback
- legged robots
- trajectory tracking
- position control
- sliding mode
- neural network controller
- image sequences
- induction motor
- robot arm
- neural network
- control architecture
- motion capture
- vision system
- physical constraints
- experimental data
- joint angles
- feedback control
- external disturbances