A unifying framework for robot control with redundant DOFs

Autonomous Robots

Volumn 24, Issue 1, 2008, Pages 1-12

  Peters, Jan ^a,d   Mistry, Michael ^a   Udwadia, Firdaus ^a   Nakanishi, Jun ^b,c   Schaal, Stefan ^a,b  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^c JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^d MAX PLANCK INSTITUTE FOR BIOLOGICAL CYBERNETICS   (Germany)

Author keywords

Constrained mechanics; Gauss' principle; Kinematic redundancy; Non linear control; Optimal control; Robot control; Tracking control

Indexed keywords

CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); NONLINEAR CONTROL SYSTEMS; REDUNDANT MANIPULATORS;

CONSTRAINED MECHANICS; GAUSS' PRINCIPLES; KINEMATIC REDUNDANCY; OPTIMAL CONTROL; ROBOT CONTROL; TRACKING CONTROL;

INTELLIGENT ROBOTS;

EID: 37249003309     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-007-9051-x     Document Type: Article

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