Compliance control of a humanoid arm based on force feedback

Zhang Weimin*, Huang Qiang, Du Peng, Li Jianxi, Li Kejie

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

3 引用 (Scopus)

摘要

Humanoid robots are expected to take an important role in human daily environments such as offices, homes and hospitals. The flexibility of the humanoid motion is a fundamental requirement for human-robot interaction. In this paper, a compliance control for humanoid grasping objects is proposed. The force/torque of the end-effector is measured by a 6-axis force sensor located at the wrist. Using the proposed method, it is possible for the humanoid robot to grasp the object with a small interference force and keeping the desired hand's posture. The effectiveness of the proposed method is illustrated through the experiment of object grasping.

源语言英语
主期刊名ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition
528-531
页数4
出版状态已出版 - 2005
活动ICIA 2005: 2005 International Conference on Information Acquisition - Hong Kong, 中国
期限: 27 6月 20053 7月 2005

出版系列

姓名ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition
2005

会议

会议ICIA 2005: 2005 International Conference on Information Acquisition
国家/地区中国
Hong Kong
时期27/06/053/07/05

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