Design, control and evaluation of a whole-sensitive robot arm for physical human-robot interaction

International Journal of Humanoid Robotics

Volumn 6, Issue 4, 2009, Pages 699-725

  Tsetserukou, Dzmitry ^a   Kawakami, Naoki ^a   Tachi, Susumu ^b  

^a UNIVERSITY OF TOKYO   (Japan)

^b KEIO UNIVERSITY   (Japan)

Author keywords

Admittance control; Human robot physical interaction; Optical torque sensor; Robot arm

Indexed keywords

ACTIVE COMPLIANCE; ADMITTANCE CONTROL; ANTHROPOMORPHIC ROBOT ARM; DESIGN AND CONTROL; DETAILED DESIGN; DYNAMIC BEHAVIORS; FLEXIBLE JOINT ARM; HUMAN ROBOT INTERACTIONS; LOAD ANGLE; OPTICAL TORQUE SENSOR; PHYSICAL INTERACTIONS; POSITION FEEDBACK; ROBOT ARMS; SENSITIVE ROBOT ARM; UNSTRUCTURED ENVIRONMENTS;

HUMAN COMPUTER INTERACTION; MACHINE DESIGN; ROBOTIC ARMS; SENSORS; STRUCTURAL DESIGN; TORQUE; TORQUE METERS;

HUMAN ROBOT INTERACTION;

EID: 76449087362     PISSN: 02198436     EISSN: None     Source Type: Journal    
DOI: 10.1142/S0219843609001899     Document Type: Article

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