Hybrid impedance control for multi-segmented inspection robot Kairo-II

@inproceedings{Birkenhofer2006HybridIC,
  title={Hybrid impedance control for multi-segmented inspection robot Kairo-II},
  author={Clemens Birkenhofer and S. Studer and Johann Marius Z{\"o}llner and R{\"u}diger Dillmann},
  booktitle={ICINCO-RA},
  year={2006}
}
The tremendous redundancy of the multi-segmented robot Kairo-II can be utilized to enhance general robot configuration by any inspection task. To do so, an extensive control scheme must be installed which can handle both, contact scenarios with the environment and ambiguous robot configurations. A method for implementing an appropriate scheme using Transposed Jacobians based on Hybrid Impedance Control (TJ-HIC) is described and validated for multi-segmented robots. Crucial parts of this model… CONTINUE READING

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