Paper Info
Title
Reference adaptive impedance control and its application to obstacle avoidance trajectory planning.
Abstract
A new paradigm of event-based robotic control, called reference adaptive impedance control, is presented for partially constrained robots under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. An application to obstacle avoidance trajectory planning is given with computer simulations
Year
DOI
Venue
1997
10.1109/IROS.1997.655155
IROS
Keywords
Field
DocType
trajectory,application software,optimal control,error correction,robot control,impedance,obstacle avoidance,robot kinematics,computer simulation,control systems,robots,path planning,adaptive control
Obstacle avoidance,Motion planning,Robot control,Optimal control,Control theory,Computer science,Control engineering,Impedance control,Control system,Adaptive control,Trajectory
Conference
Volume
ISBN
Citations 
2
0-7803-4119-8
2
PageRank 
References 
Authors
0.41
5
4
Name
Order
Citations
PageRank
Sukhan Lee11160280.42
Soo-Yeong Yi2306.92
Jong-Oh Park313338.86
Chongwon Lee416129.37