Title :
The control algorithm enabling natural physical interaction with humanoid robot arm having joint flexibility
Author :
Tsetserukou, Dzmitry ; Kawakami, Naoki ; Tachi, Susumu
Author_Institution :
Dept. of Inf. Phys. & Comput., Univ. of Tokyo, Tokyo
Abstract :
The paper is concentrated on control of humanoid robot arm intended for operation in unstructured human being-environment. A variable impedance control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The detailed design procedure of the lead controller enabling improvement of transient response is presented. The experimental results show that proposed approach not only provides safe interaction of robot arm with a person, but also improves the effectiveness of contact task performance.
Keywords :
human-robot interaction; humanoid robots; manipulators; control algorithm; human-like dynamics; humanoid robot arm; joint flexibility; natural physical interaction; robot functionality; transient response; unstructured human being-environment; variable impedance control strategy; Actuators; Force control; Humanoid robots; Humans; Impedance; Manipulators; Motion control; Optical sensors; Robot control; Robot sensing systems; Variable impedance control; joint flexibility; safe human-robot interaction; teleoperation;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655137
