TY - GEN
T1 - A new flexible controller for a humanoid robot that considers visual and force information interaction
AU - Ma, Gan
AU - Huang, Qiang
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Zhang, Weimin
AU - Gao, Junyao
AU - Meng, Libo
AU - Liu, Yun Hui
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84929153230&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906981
DO - 10.1109/ICRA.2014.6906981
M3 - Conference contribution
AN - SCOPUS:84929153230
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1036
EP - 1041
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -