Touch: The direct type of human interaction with a redundant service robot

Robot and Human Communication - Proceedings of the IEEE International Workshop

Volumn , Issue , 2001, Pages 347-352

  Grunwald, G ^a   Schreiber, G ^a   Albu Schaffer A ^a   Hirzinger, G ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COMMAND AND CONTROL SYSTEMS; CONTACT SENSORS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; FEEDBACK CONTROL; INTELLIGENT CONTROL; MOBILE ROBOTS; MOTION CONTROL; REDUNDANT MANIPULATORS; ROBOT PROGRAMMING; STATE FEEDBACK; USER INTERFACES;

LIGHT WEIGHT ROBOT; REDUNDANT SERVICE ROBOT; ROBOT ARM; ROBOT COMMANDS; TOOL CENTER POINT; TOUCH LINKS;

HUMAN COMPUTER INTERACTION;

EID: 0035721325     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. On a new generation of torque controlled light-weight robots
2. State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots
3. Parameter identification and passivity based joint control for a 7 dof torque controlled light-weight robot
4. Modeling and control of elastic joint robots
5. Key issues in dynamic control of lightweight robots for space and terrestrial applications
6. A general algorithm for dynamic feedback linearisation of robots with elastic joints
7. Robust adaptive control of flexible joint robots with joint torque feedback
8. Global tracking controllers for flexible-joint manipulators: A comparative study
9. Solving the singularity problem of non-redundant manipulators by constraint optimization
10. An intuitive interface for nullspace teaching of redundant robots
11. Redundant motions of non redundant robots - A new approach to singularity treatment
12. Resolving manipulator redundancy under inequality constraints