Sensorless torque control of humanoid arm having highly back-drivable joints

In this paper, novel upper body humanoid manipulators are presented. Each manipulator has 8 joints with coupled wrist joints, actually it has 7DOF. Torque-based interaction is our main manipulation strategy. We chose back-drivable mechanism and current control of motor as significant design factors....

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Moon, Kyung-Won, Shim, Youngbo, Kim, Yong-Jae, Lee, Dong-Hun, Choi, JongDo, Kim, YoonSoo, Roh, Kyungsik
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Backdrivable Arm Current Control Gears Humanoid Robot Humanoid robots Impedance Control Joints Robot sensing systems Torque
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