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Compliance control of a humanoid arm based on force feedback

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5 Author(s)
Weimin Zhang ; Dept. of Mechatronic Eng., Beijing Inst. of Technol., China ; Qiang Huang ; Peng Du ; Jianxi Li
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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.

Published in:

Information Acquisition, 2005 IEEE International Conference on

Date of Conference:

27 June-3 July 2005

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