DocumentCode
2097371
Title
Optical torque sensors for implementation of local impedance control of the arm of humanoid robot
Author
Tsetserukou, Dzmitry ; Tadakuma, Riichiro ; Kajimoto, Hiroyuki ; Tachi, Susumu
Author_Institution
Graduate Sch. of Inf. Sci. & Technol., Tokyo Univ.
fYear
2006
fDate
15-19 May 2006
Firstpage
1674
Lastpage
1679
Abstract
This paper describes the recent development of new optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint
Keywords
humanoid robots; mechanical variables control; optical sensors; telerobotics; anthropomorphic robot arm; humanoid robot; local impedance control; optical torque sensors; Anthropomorphism; Capacitive sensors; Humanoid robots; Impedance; Optical control; Optical sensors; Robot sensing systems; Sensor phenomena and characterization; Strain control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641947
Filename
1641947
Link To Document