Title :
Impedance control of mobile robot with shell-shaped force sensor
Author_Institution :
Dept. of Electr. & Electron. Syst., Saitama Univ., Saitama
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;
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
DOI :
10.1109/ICMECH.2009.4957162
