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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 4214-4219

  Desai, Jaydev P ^a   Howe, Robert D ^b  

^a DREXEL UNIVERSITY   (United States)

^b HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC IMPEDANCE; FEEDBACK; FORCE CONTROL; FRICTION; MANIPULATORS; POSITION CONTROL; SENSORS; STIFFNESS;

WHOLE ARM MANIPULATOR (WAM) ROBOTS;

ROBOTIC ARMS;

EID: 0034876649     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2001.933276     Document Type: Article

References (11)

1. Dynamic lumped element response of the human fingerpad
2. Identification of the mechanical impedance at the human finger tip
3. Impedance control: An approach to manipulation: Part I - Theory
4. Stability and control of robotic manipulators during contact/noncontact task transition
5. On robust impact control via positive acceleration feedback for robot manipulators
6. A sensor-based robot transition control strategy
7. Stable execution of contact tasks using impedance control
8. Friction: Experimental determination, modeling and compensation
9. Impedance control: An approach to manipulation: Part II - Implementation