Ger Honderd

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Obstacle Avoidance for a Mobile Robot A notorious problem in mobile obstacle avoidance is the detection and avoidance of obstacles. This thesis evaluates several well-known methods for controlling the motion of a mobile robot in an unknown dynamic environment. One of these methods, the Global Dynamic Window Approach, is selected and, using a laser range(More)
In this paper an adaptive compliant motion control is presented for either constant admittance or constant force mode of operation. From a desired trajectory of the admittance and virtual position in the task space, a virtual trajectory is generated to follow the desired admittance. We are talking about admittance because at the interaction port of the end(More)