Obstacle avoidance control of humanoid robot arm through tactile interaction

In this paper we introduce a novel concept of obstacle avoidance through tactile interaction. The implementation of the approach was realized on humanoid robot arm with optical torque sensors distributed to each robot joint. When manipulator collides with an object, the control system enables to fol...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Tsetserukou, D., Kawakami, N., Tachi, S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Humanoid robots Intelligent robots Interpolation Manipulators Optical sensors Robot control Robot sensing systems Shape Torque
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