Resonance-based task space controller for multi-joint robot with adjustable equilibrium angle of elastic element.

Mitsunori Uemura Sadao Kawamura

Published 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