DocumentCode :
1985497
Title :
Compliance control of a humanoid arm based on force feedback
Author :
Zhang, Weimin ; Huang, Qiang ; Du, Peng ; Li, Jianxi ; Li, Kejie
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol., China
fYear :
2005
fDate :
27 June-3 July 2005
Abstract :
Humanoid robots are expected to take an important role in human daily environments such as offices, homes and hospitals. The flexibility of the humanoid motion is a fundamental requirement for human-robot interaction. In this paper, a compliance control for humanoid grasping objects is proposed. The force/torque of the end-effector is measured by a 6-axis force sensor located at the wrist. Using the proposed method, it is possible for the humanoid robot to grasp the object with a small interference force and keeping the desired hand´s posture. The effectiveness of the proposed method is illustrated through the experiment of object grasping.
Keywords :
compliance control; dexterous manipulators; force feedback; force sensors; humanoid robots; 6-axis force sensor; compliance control; end-effector force measurement; force feedback; human daily environments; human-robot interaction; humanoid arm; humanoid grasping objects; humanoid motion; humanoid robots; interference force; torque measurement; Force control; Force feedback; Force measurement; Force sensors; Hospitals; Humanoid robots; Humans; Interference; Torque measurement; Wrist;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Acquisition, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9303-1
Type :
conf
DOI :
10.1109/ICIA.2005.1635145
Filename :
1635145
Link To Document :
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