Force control with safety constraints via iterative feedback tuning

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 3670-3675

  Park, Un Sik ^a   Yamada, Yoji ^a   Nakabo, Yoshihiro ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED-LOOP; CONTACT SYSTEMS; CONTACT TASK; CONTROL ALGORITHMS; CONTROL METHODS; CONTROLLER PARAMETER; DAILY LIVES; DISABLED PEOPLE; EXPERIMENTAL DATA; EXPLICIT MODELING; HARD TASK; HUMAN DYNAMICS; INTERACTION FORCES; ITERATIVE FEEDBACK TUNING; MODEL BASED APPROACH; NEW DESIGN; OPTIMIZATION PROBLEMS; PERSONAL SERVICE ROBOTS; SAFETY CONSTRAINT; SAFETY CRITICAL SYSTEMS; SAFETY REQUIREMENTS; SEARCH DIRECTION; SEQUENTIAL QUADRATIC PROGRAMMING;

ALGORITHMS; FORCE CONTROL; MACHINE DESIGN; OPTIMIZATION; QUADRATIC PROGRAMMING; ROBOTICS; ROBOTS; SECURITY SYSTEMS; SEQUENTIAL SWITCHING; TIME VARYING NETWORKS; TUNING;

FEEDBACK;

EID: 70350356863     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152444     Document Type: Conference Paper

References (12)

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