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Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation.
Jonathan Vorndamme
Moritz Schappler
Alexander Toedtheide
Sami Haddadin
Published in:
IROS (2016)
Keyphrases
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collision detection
impedance control
manipulation tasks
computer graphics
virtual environment
position control
rigid body
computer vision
force control
motor control
robotic systems
model free
control system
optimal control
machine learning
deformable objects
closed loop
robotic manipulator
three dimensional