Virtual Impedance Control and Null Space Motion Control for Humanoid Robots
碩士 === 國立臺灣大學 === 機械工程學研究所 === 105 === Virtual impedance control can be used to avoid obstacles, joint limits, and self-collisions. In this thesis, we propose a stabilizer that uses virtual impedance control and maximal output admissible (MOA) sets to guarantee balance stability and execute other fu...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
2017
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| Online Access: | http://ndltd.ncl.edu.tw/handle/54819471627075354111 |