{"title":"基于本体感觉传感器的接触观测器调节柔性机器人运动","authors":"Anastasia Bolotnikova, S. Courtois, A. Kheddar","doi":"10.1109/HUMANOIDS.2018.8624946","DOIUrl":null,"url":null,"abstract":"In this paper, we present developments of a realtime compliant motion control for a personal humanoid robot. Our approach allows to interpret and react to human guidance through touch using only joint encoders measurements to monitor contact direction and intensity on both static and moving links. This novel method is developed with consideration of minimal sensor requirement of the hardware platform to meet high affordability criteria. We demonstrate performances in experiments with a humanoid robot Pepper.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer\",\"authors\":\"Anastasia Bolotnikova, S. Courtois, A. Kheddar\",\"doi\":\"10.1109/HUMANOIDS.2018.8624946\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we present developments of a realtime compliant motion control for a personal humanoid robot. Our approach allows to interpret and react to human guidance through touch using only joint encoders measurements to monitor contact direction and intensity on both static and moving links. This novel method is developed with consideration of minimal sensor requirement of the hardware platform to meet high affordability criteria. We demonstrate performances in experiments with a humanoid robot Pepper.\",\"PeriodicalId\":433345,\"journal\":{\"name\":\"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"144 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HUMANOIDS.2018.8624946\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2018.8624946","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer
In this paper, we present developments of a realtime compliant motion control for a personal humanoid robot. Our approach allows to interpret and react to human guidance through touch using only joint encoders measurements to monitor contact direction and intensity on both static and moving links. This novel method is developed with consideration of minimal sensor requirement of the hardware platform to meet high affordability criteria. We demonstrate performances in experiments with a humanoid robot Pepper.
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