Resonance-based task space controller for multi-joint robot with adjustable equilibrium angle of elastic element.
Mitsunori UemuraSadao KawamuraPublished in: ICRA (2010)
Keyphrases
- mobile robot
- central pattern generator
- joint space
- robotic manipulator
- real time
- control architecture
- autonomous robots
- motion control
- robotic systems
- biped walking
- force control
- pid controller
- robot navigation
- neural network
- search space
- control loop
- control system
- robot manipulators
- path planning
- control scheme
- robot control
- virtual space
- vision system
- dynamic environments
- humanoid robot
- trajectory tracking
- neural network controller
- multi robot
- closed loop