HRI
Real-time adaptive control for haptic manipulation with active observers
Rui Cortesão, Jaeheung Park, Oussama Khatib
- Year
- 2004
- Citations
- 28
Abstract
The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is made as a function of stiffness mismatches. Real time adaptation is discussed.
Keywords
Haptic technologyRobustness (evolution)Computer scienceControl theory (sociology)Robust controlAdaptive controlMotion controlControl engineeringStiffnessStability (learning theory)
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