Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws.
Alexander DietrichThomas WimböckAlin Albu-SchäfferPublished in: IROS (2011)
Keyphrases
- humanoid robot
- motion planning
- control law
- control algorithm
- joint space
- multi modal
- control scheme
- human robot interaction
- closed loop
- fully autonomous
- control system
- human robot
- control strategy
- imitation learning
- position control
- human motion
- adaptive control
- dynamic environments
- walking speed
- nonlinear systems
- three dimensional
- control method
- dynamic model
- real robot
- body movements
- vision system
- sliding mode
- pattern generator