Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Wei Wang, Chang Wei, Yuki Suga, Chiahao Kuo, Alexander Schmitz, Shigeki Sugano

研究成果: Article査読

抄録

Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.

本文言語English
論文番号8007230
ページ(範囲)187-194
ページ数8
ジャーナルIEEE Robotics and Automation Letters
3
1
DOI
出版ステータスPublished - 2018 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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