Multi-sensor based impedance control for task execution

@article{Backes1992MultisensorBI,
  title={Multi-sensor based impedance control for task execution},
  author={Paul G. Backes},
  journal={Proceedings 1992 IEEE International Conference on Robotics and Automation},
  year={1992},
  pages={1245-1250 vol.2}
}
A unified control scheme for execution of robotic supervisory and shared control tasks using impedance control with multiple sensory inputs is presented. The control scheme has been designed to provide general Cartesian task execution capability for space telerobotics, both for contact and noncontact tasks. Multiple sensors can be utilized concurrently to enable the execution of a wide range of teleoperation, shared control, and autonomous control telerobotic tasks. Control is based on… CONTINUE READING

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