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 |
| 页 | 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 2005 → 3 7月 2005 |
出版系列
| 姓名 | ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition |
|---|---|
| 卷 | 2005 |
会议
| 会议 | ICIA 2005: 2005 International Conference on Information Acquisition |
|---|---|
| 国家/地区 | 中国 |
| 市 | Hong Kong |
| 时期 | 27/06/05 → 3/07/05 |
指纹
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Weimin, Z., Qiang, H., Peng, D., Jianxi, L., & Kejie, L. (2005). Compliance control of a humanoid arm based on force feedback. 在 ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition (页码 528-531). 文章 1635145 (ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition; 卷 2005).