Name
Title | ||
|---|---|---|
Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots. |
Abstract | ||
|---|---|---|
Indirect force control (IFC) architectures are a common approach for dealing with unknown environments. What all IFC schemes have in common is that the relation between the set point and the actual configuration of the robot is determined by a mechanical relationship (e.g., a mass-spring-damper system). In this paper, we propose a set-point generation method for IFC schemes, enabling intuitive spe... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TRO.2017.2765674 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Force,Robot kinematics,Jacobian matrices,Manipulators,Robot sensing systems | Passivity,Control theory,Control theory,Stability proof,Robot kinematics,Electrical impedance,Control engineering,Robot,Mathematics,Cartesian coordinate system | Journal |
Volume | Issue | ISSN |
34 | 1 | 1552-3098 |
Citations | PageRank | References |
2 | 0.67 | 17 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ewald Lutscher | 1 | 19 | 2.90 |
| Emmanuel C. Dean-Leon | 2 | 62 | 15.39 |
| Gordon Cheng | 3 | 14 | 2.04 |