Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li
{"title":"基于力反馈的仿人臂柔顺控制","authors":"Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li","doi":"10.1109/ICIA.2005.1635145","DOIUrl":null,"url":null,"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.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Compliance control of a humanoid arm based on force feedback\",\"authors\":\"Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li\",\"doi\":\"10.1109/ICIA.2005.1635145\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":136611,\"journal\":{\"name\":\"2005 IEEE International Conference on Information Acquisition\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2005 IEEE International Conference on Information Acquisition\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIA.2005.1635145\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2005 IEEE International Conference on Information Acquisition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIA.2005.1635145","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Compliance control of a humanoid arm based on force feedback
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
