Control of passive object handling robot with free joint for reducing human assistive force.
Yasuhisa HirataHamin SongZhi Dong WangKazuhiro KosugePublished in: IROS (2007)
Keyphrases
- robotic manipulator
- position control
- autonomous robots
- end effector
- robotic systems
- robot behavior
- force control
- sagittal plane
- visual servoing
- human operators
- mobile robot
- human robot interaction
- human robot
- robot control
- control scheme
- degrees of freedom
- joint space
- force feedback
- robot manipulators
- vision system
- control system
- hand eye
- lower extremity
- control architecture
- robotic arm
- force sensing
- robot arm
- tactile sensing
- object model
- visual feedback
- control signals
- obstacle avoidance
- home environment
- closed loop
- control strategies
- robot navigation
- human behavior
- context aware
- inverted pendulum
- configuration space
- robot teams
- impedance control
- human users
- moving objects
- legged robots
- human computer interaction
- pose estimation
- motion control
- ambient intelligence
- image sequences
- control strategy
- control law
- position and orientation
- human subjects