Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits
2022 International Conference on Robotics and Automation (ICRA)（2022）
关键词
toward physical human-robot interaction control,aerial manipulator,aerial vehicle,robotic arm,physical interaction,human operator,admittance control paradigm,human ergonomy,safety,interaction supervisor,interaction regions,human co-worker,projected gradient redundancy resolution scheme,aerial robot,quadratic programming optimization-based inner loop,world input saturation,control framework,human-in-the loop
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