TY - GEN
T1 - Contact dynamics of massage compliant robotic arm and its coupled stability
AU - Huang, Yuancan
AU - Souères, Philippe
AU - Li, Jian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.
AB - In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.
UR - https://www.scopus.com/pages/publications/84929161792
U2 - 10.1109/ICRA.2014.6907050
DO - 10.1109/ICRA.2014.6907050
M3 - Conference contribution
AN - SCOPUS:84929161792
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1499
EP - 1504
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 -