DocumentCode
3470052
Title
Impedance control of mobile robot with shell-shaped force sensor
Author
Tsuji, Toshiaki
Author_Institution
Dept. of Electr. & Electron. Syst., Saitama Univ., Saitama
fYear
2009
fDate
14-17 April 2009
Firstpage
1
Lastpage
6
Abstract
This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.
Keywords
force sensors; mechanical variables control; mobile robots; motion control; impedance control; mobile robot; motion control; shell-shaped force sensor; whole-body force sensing mechanism; Control systems; Force control; Force measurement; Force sensors; Humans; Impedance; Mobile robots; Motion control; Robot control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location
Malaga
Print_ISBN
978-1-4244-4194-5
Electronic_ISBN
978-1-4244-4195-2
Type
conf
DOI
10.1109/ICMECH.2009.4957162
Filename
4957162
Link To Document