A new flexible controller for a humanoid robot that considers visual and force information interaction

Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Weimin Zhang, Junyao Gao, Libo Meng, Yun Hui Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two approaches do not consider the interaction between the visual controller and force controller. Specifically, the first approach does not consider the interaction between the controllers. The second approach only considers the effect of the output of the visual controller on the force controller, while the effect of the force controller on the visual controller is not considered. This study presents a design for a new flexible controller for a humanoid robot that considers the interaction of visual and force information. The advantages of the proposed method are that it simultaneously incorporates the functions of a visual servo controller and a flexible controller as well as its ability to consider the interaction of visual and force information when a humanoid robot is operating.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1036-1041
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
Publication statusPublished - 22 Sept 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

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Ma, G., Huang, Q., Yu, Z., Chen, X., Zhang, W., Gao, J., Meng, L., & Liu, Y. H. (2014). A new flexible controller for a humanoid robot that considers visual and force information interaction. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1036-1041). Article 6906981 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906981