A static intrinsically passive controller to enhance grasp stability of object-based mapping between human and robotic hands.
Gionata SalviettiThomas WimböckDomenico PrattichizzoPublished in: IROS (2013)
Keyphrases
- real time
- limit cycle
- lyapunov function
- robotic manipulator
- human operators
- stability analysis
- closed loop
- control scheme
- human interaction
- neural network
- mobile robot
- control law
- pid controller
- fuzzy controller
- control algorithm
- optimal control
- robot behavior
- feedback controller
- disturbance rejection
- robust stability