Compliant humanoid robot control by the torque transformer

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 3011-3018

  Yoshikawa, Taizo ^a   Khatib, Oussama ^b  

^a Honda R&D Americas Inc   (United States)

^b Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANT MOTION CONTROL; CONTROL ARCHITECTURE; HUMANOID ROBOT; JOINT TORQUE CONTROL; JOINT TORQUES; JOINT VELOCITY; KEY TECHNOLOGIES; LOWER BODY; MODELING PROCESS; OPERATIONAL SPACE FORMULATION; PHYSICAL INTERACTIONS; TRADITIONAL JOINTS; WHOLE BODY;

ANTHROPOMORPHIC ROBOTS; CONTROLLERS; HUMAN ROBOT INTERACTION; INTELLIGENT ROBOTS; MOTION CONTROL; TORQUE; TORQUE CONTROL;

POSITION CONTROL;

EID: 76249125074     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5353907     Document Type: Conference Paper

References (13)

1. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka. The development of honda humanoid robot. In Proc. of the Int. Conf. on Robotics and Automation, pages 1321-1326, 1998.
2. Honda Motor, Internet page, http://world.honda.com/ASIMO
3. Yu Ogura, Hiroyuki Aikawa, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Hun-ok Lim and Atsuo Takanishi. Development of A Humanoid Robot WABIAN-2. IEEE International Conference on Robotics and Automation, pp. 76-81, 2006.
4. K. Kaneko, F. Kanehiro, S. Kajita and H. Hirukawa. Humanoid Robot HRP-2. International Conference on Robotics and Automation, 2004[9].
5. Mitsunaga, N, Miyashita, T, Ishiguro, H and Kogure, K. Hagita. N. Robovie-IV: A Communication Robot Interacting with People Daily in an Office. International Conference on Intelligent Robots and Systems, 2006.
6. Y. Ohmura and Y.Kuniyoshi. Humanoid Robot which can Lift a 30kg Box by Whole Body Contact and Tactile Feedback. International Conference on Intelligent Robots and Systems, pp. 1136-11412007.
7. O. Khatib, P. Thaulad and J. Park. Torque-Position Transformer for Task Control of Position Controlled Robots. United States Patent, US 7211979 B2, 2007.
8. O. Khatib, P. Thaulad, T. Yoshikawa, J. Park. Torque-position transformer for task control of position controlled robots. International Conference on Robotics and Automation, 1729-1734, 2008.
9. T. Yoshikawa and O. Khatib. Compliant motion control for a humanoid robot in contact with the environment and humans. International Conference on Intelligent Robots and Systems, 211-218, 2008
10. T. Yoshikawa, J. Park and O. Khatib. The Torque-to-Position Transformer: A Framework for Complinat Motion Control of Industrial Position-Controlled Robots. International Symposium on Robotics, THD1-3, 2008
11. T. Yoshikawa. Open-Loop Torque Control on Joint Position-Controlled Robots. United States Patent, US 12099047, 2008.
12. H. Olsson. K.J. Astrom. C.Canudas de Wit. M. Gafvert. P. Lischinsky. Friction Models and Friction Compensation.
13. O. Khatib. A unified approach for motion and force control of robot manipulators: the Operational Space Formulation. International Journal of Robotics Research, 3(1):43-53, 1987.