Multi-contact compliant motion control for robotic manipulators

被引：0
|
作者：
Park, J [1 ]
Cortesao, R [1 ]
Khatib, O [1 ]
机构：
[1] Stanford Univ, Robot Grp, Stanford, CA 94305 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through Active Observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.
引用
收藏
页码：4789 / 4794
页数：6
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