Implementation of a task-dependent anisotropic impedance controller into a 2-DOF platform-based ankle rehabilitation robot.
Amir B. FarjadianMohsen NabianConstantinos MavroidisMaureen K. HoldenPublished in: ICRA (2015)
Keyphrases
- robotic manipulator
- position control
- mobile robot
- degrees of freedom
- real time
- robotic systems
- path planning
- control architecture
- end effector
- visual servoing
- experimental platform
- control system
- optimal control
- motion control
- platform independent
- position and orientation
- dc motor
- humanoid robot
- neural network
- parallel robot
- lower extremity
- robot arm
- robot control
- human robot interaction
- control scheme
- closed loop
- vision system
- robot manipulators
- robotic arm
- motion planning
- fuzzy controller
- motor learning
- multi robot