By Topic

Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Desai, J.P. ; MEM Dept., 2-115, Drexel Univ., Philadelphia, PA, USA ; Howe, R.D.

We present the results from our work in the development of a robotic arm with minimal impedance. The development of such an arm is useful for gentle exploration of unknown objects in unstructured environments. Similar to a human, the robotic arm should minimize the contact forces in the event of unanticipated contact with unknown objects in the absence of visual feedback. To accomplish this, our strategy is to develop a good model of the robotic system so that we can use low gains which in turn will lead to low impedance and hence low contact forces in manipulation tasks in unstructured environments. The paper demonstrates how good modeling and feedforward compensation can result in low interaction forces without any external force sensing. We present experimental results to demonstrate the validity of our model and approach.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference: