Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays.
Mattia RisiglioneJean-Pierre SleimanMaria Vittoria MinnitiBurak ÇizmeciDouwe DresscherMarco HutterPublished in: IROS (2021)
Keyphrases
- force feedback
- robotic arm
- robotic manipulator
- master slave
- end effector
- control system
- trajectory tracking
- control method
- visual servoing
- motion control
- contact force
- closed loop
- degrees of freedom
- inverted pendulum
- control architecture
- robot manipulators
- robotic systems
- disturbance rejection
- computer controlled
- force control
- haptic device
- impedance control
- robot arm
- bi directional
- vision system
- legged robots
- reinforcement learning
- hand eye
- virtual reality
- inverse kinematics
- path planning
- dynamic model
- control scheme
- human operators
- feedback control
- optimal control
- sliding mode
- parallel manipulator
- virtual environment
- adaptive control
- haptic interaction
- neural network