Compliant motion control for multisegment continuum robots with actuation force sensing

IEEE Transactions on Robotics

Volumn 30, Issue 4, 2014, Pages 890-902

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

^a CROZER CHESTER MEDICAL CENTER   (United States)

^b MAKO Surgical Corporation   (United States)

^c VANDERBILT UNIVERSITY   (United States)

Author keywords

Compliant motion control; continuum robot; machine learning; support vector machine

Indexed keywords

ARTIFICIAL INTELLIGENCE; LEARNING SYSTEMS; SUPPORT VECTOR MACHINES; UNCERTAINTY ANALYSIS;

COMPLIANT MOTION CONTROL; CONFIGURATION SPACE; CONTINUUM ROBOT; FORCE INTERACTION; INTERACTION FORCES; MINIMAL INTERACTIONS; MODEL UNCERTAINTIES; NON-LINEAR DEVIATION;

ROBOTS;

EID: 84905907501     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2014.2309835     Document Type: Article

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