Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li
{"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}
引用次数: 14
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.
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