Operational space control: A theoretical and empirical comparison

International Journal of Robotics Research

Volumn 27, Issue 6, 2008, Pages 737-757

  Nakanishi, Jun ^a,b   Cory, Rick ^c   Mistry, Michael ^d   Peters, Jan ^d   Schaal, Stefan ^b,d  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^d UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

Compliant control; Empirical comparison; Operational space control; Redundant manipulators; Review; Theory

Indexed keywords

ACCELERATION; AUTOMATION; COMPUTER NETWORKS; DYNAMICAL SYSTEMS; MANIPULATORS; MULTITASKING; PARAMETER ESTIMATION; ROBOTIC ARMS; ROBOTICS; ROBOTS; ROBUST CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SPACE RESEARCH; STEEL ANALYSIS;

(E ,2E) THEORY; (PL) PROPERTIES; (U ,V) OPERATOR; ANTHROPOMORPHIC ROBOT-ARM; BEHAVIORAL STUDIES; DEXTEROUS MANIPULATION; EMPIRICAL COMPARISON; EMPIRICAL EVALUATIONS; EMPIRICAL RESULTS; FOCUS CONTROL; GENERAL (CO); HUMAN MOTOR; MODELING ERRORS; OPERATIONAL SPACE; OPERATIONAL SPACE CONTROL; ORIENTATION CONTROL; PARAMETER ESTIMATION ALGORITHMS; PARAMETER TUNING; PERFORMANCE PROPERTIES; RIGID BODY DYNAMICS; SAGE PUBLICATIONS (CO); SERVICE ROBOTS; SEVEN-DEGREE-OF-FREEDOM (7-DOF); TASK PERFORMANCES; TASK-SPACE CONTROL;

CONTROL THEORY;

EID: 44649168729     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908091463     Document Type: Article

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