Compliant motion control for continuum robots with intrinsic actuation sensing

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1126-1132

  Goldman, Roger E ^a   Bajo, Andrea ^b   Simaan, Nabil ^b  

^a Columbia University ^*  (United States)

^b VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANALYTIC EXPRESSIONS; CLOSED FORM; COMPLIANT MOTION; COMPLIANT MOTION CONTROL; CONFIGURATION SPACE; CONTACT LOCATION; CONTINUUM ROBOT; CONTROL FRAMEWORK; CONTROLLER PROPERTIES; EXPERIMENTAL VALIDATIONS; EXPLICIT KNOWLEDGE; GENERALIZED FORCE; MINIMALLY INVASIVE SURGICAL; SINGLE STAGE; SURGICAL ROBOTS; SYSTEM MODELS;

ALGORITHMS; ROBOTICS; STIFFNESS; SURGERY;

ROBOTS;

EID: 84859738362     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980000     Document Type: Conference Paper

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