@inproceedings{80dc54a3c5584bf18c92470f3be4646b,
title = "Compliance control of a humanoid arm based on force feedback",
abstract = "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.",
keywords = "Compliance control, Force sensor, Humanoid robot",
author = "Zhang Weimin and Huang Qiang and Du Peng and Li Jianxi and Li Kejie",
year = "2005",
language = "English",
isbn = "0780393031",
series = "ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition",
pages = "528--531",
booktitle = "ICIA 2005 - Proceedings of 2005 International Conference on Information Acquisition",
note = "ICIA 2005: 2005 International Conference on Information Acquisition ; Conference date: 27-06-2005 Through 03-07-2005",
}