A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot.
Francesco RuscelliMatteo Parigi PolveriniArturo LaurenziEnrico Mingo HoffmanNikos G. TsagarakisPublished in: IROS (2020)
Keyphrases
- motion planning
- humanoid robot
- control strategy
- control law
- human robot interaction
- manipulation tasks
- human robot
- control strategies
- control system
- trajectory planning
- multi modal
- robotic tasks
- biologically inspired
- robot arm
- control algorithm
- mathematical model
- robot motion
- control method
- control scheme
- fuzzy controller
- degrees of freedom
- obstacle avoidance
- robotic arm
- service robots
- real robot
- optimal control
- inverse kinematics
- mobile robot
- human computer interaction
- control loop
- fuzzy neural network
- human motion
- viewpoint
- configuration space
- nonlinear systems
- path planning
- spatio temporal
- climbing robot
- pid controller