Model-Based Specification of Control Architectures for Compliant Interaction with the Environment
Dennis Leroy Wigand,Niels Dehio,Sebastian Wrede,Dennis Leroy Wigand,Niels Dehio,Sebastian Wrede
In recent years the need for manipulation tasks in the industrial as well as in the service robotics domain that require compliant interaction with the environment rose. Since then, an increased number of publications use a model-driven approach to describe these tasks. High-level tasks and sequences of skills are coordinated to achieve a desired motion for e.g., screwing, polishing, or snap mount...
