Whole-arm impedance of a serial-chain manipulator

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2223-2228

  Mochiyama, H ^a  

^a NATIONAL DEFENSE ACADEMY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC IMPEDANCE; FORCE CONTROL; KINEMATICS; MOTION PLANNING; ROBOTIC ARMS; STIFFNESS; TORQUE; VIRTUAL REALITY;

WHOLE-ARM MANIPULATION (WAM);

MANIPULATORS;

EID: 0034861491     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. A modal approach to hyper-redundant manipulator kinematics
2. On grasp choice, grasp models, and the design of hands for manifacturing tasks
3. A spatial impedance controller for robotic manipulation
4. Impedance control: An approach to manipulation
5. A sufficient condition for manipulation of envelope family
6. Control of force distribution for power grasp in the DIGITS system
7. Direct kinematics of manipulators with hyper degrees of freedom and frenet-serret formula
8. Shape control of manipulators with hyper degrees of freedom
9. Whole arm manipulation
10. The design and control of an experimental whole-arm manipulator
11. Dynamic simulation for grasping and whole arm manipulation
12. Teleoperator slave-WAM design methdology
13. Robustness of power grasp