Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 3199-3206

  Dietrich, Alexander ^a   Wimböck, Thomas ^a   Albu Schäffer, Alin ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL STRATEGIES; FLEXIBLE BEHAVIORS; HUMANOID ROBOT; IMPEDANCE CONTROL; MAIN TASKS; MOBILE MANIPULATION; PHYSICAL LIMITATIONS; PLANNING TIME; PLANNING TOOLS; REDUNDANCY RESOLUTION; SERVICE ROBOTICS; TASK SPACE; WHEELED PLATFORMS; WHOLE BODY;

ANTHROPOMORPHIC ROBOTS; CONTROL THEORY; ENVIRONMENTAL REGULATIONS; INTELLIGENT ROBOTS;

ROBOTICS;

EID: 84455201900     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048101     Document Type: Conference Paper

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