The control algorithm enabling natural physical interaction with humanoid robot arm having joint flexibility

The paper is concentrated on control of humanoid robot arm intended for operation in unstructured human being-environment. A variable impedance control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The detailed design procedure of the...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Tsetserukou, D., Kawakami, N., Tachi, S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	joint flexibility safe human-robot interaction teleoperation Variable impedance control
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!