RMPs for Safe Impedance Control in Contact-Rich Manipulation.

Seiji Shaw Ben Abbatematteo George Konidaris

Published in: CoRR (2021)

Keyphrases

impedance control
manipulation tasks
force control
model free
robot navigation
robotic systems
real world
computer vision
optimal control
position control
real time
function approximation
neural network
humanoid robot
motion planning
finite element
human activities
dynamic environments