An admittance-controlled wheeled mobile manipulator for mobility assistance: Human–robot interaction estimation and redundancy resolution for enhanced force exertion ability
Hongjun Xing, Ali Torabi, Liang Ding, Haibo Gao, Zongquan Deng, Vivian K. Mushahwar, Mahdi Tavakoli
Topics & Concepts
Cartesian coordinate systemControl theory (sociology)AdmittanceTorqueController (irrigation)KinematicsRedundancy (engineering)EngineeringMobile manipulatorStiffnessRobotControl engineeringComputer scienceSimulationMobile robotElectrical impedanceControl (management)Artificial intelligencePhysicsStructural engineeringMathematicsBiologyAgronomyGeometryThermodynamicsClassical mechanicsElectrical engineeringReliability engineeringProsthetics and Rehabilitation RoboticsRobot Manipulation and LearningTeleoperation and Haptic Systems