Quadratic Programming-Based Task Scaling for Safe and Passive Robot Arm Teleoperation
Author:
Affiliation:
1. Department of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), Gyeongbuk, South Korea
Funder
Industrial Strategic technology development program
Ministry of Trade, Industry & Energy
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Link
http://xplorestaging.ieee.org/ielx7/3516/9857961/09790316.pdf?arnumber=9790316
Reference19 articles.
1. Regularized Hierarchical Quadratic Program for Real-Time Whole-Body Motion Generation
2. Control Barrier Functions: Theory and Applications
3. Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions
4. A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions
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