Stiffness Modulation in a Humanoid Robotic Leg and Knee.
Felix RussellYukio TakedaPetar KormushevRavi VaidyanathanPeter EllisonPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- humanoid robot
- manipulation tasks
- impedance control
- feedback loop
- joint angles
- degrees of freedom
- real robot
- position control
- computer assisted
- robotic arm
- motion planning
- multi modal
- motion capture
- mobile robot
- human robot interaction
- robotic systems
- motor control
- object manipulation
- end effector
- contact force
- real time
- finite element model
- robotic manipulator
- legged locomotion
- hand eye
- finite element analysis
- human motion
- computer simulation
- inverse dynamics