IEEE - Institute of Electrical and Electronics Engineers, Inc. - A practical approach to generalized hierarchical task specification for indirect force controlled robots

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Ewald Lutscher ; Gordon Cheng
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 1,854 - 1,859
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696601
Regular:

The main contribution of this paper is the general formulation of force and positioning tasks on joint and Cartesian level for indirect force controlled robots and combining them in a strict... View More

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