Exploiting proximal F/T measurements for the iCub active compliance

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 1870-1876

  Fumagalli, Matteo ^a   Randazzo, Marco ^a   Nori, Francesco ^a   Natale, Lorenzo ^a   Metta, Giorgio ^b   Sandini, Giulio ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^b UNIVERSITY OF GENOA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOTS; INTELLIGENT ROBOTS; KINEMATICS;

ACTIVE COMPLIANCE; EMBODIED COGNITION; EXTERNAL FORCE; FORCE/TORQUE SENSOR; HUMANOID ROBOT; INTERACTION FORCES; KINEMATIC CHAIN; SIX AXES FORCE;

HUMAN ROBOT INTERACTION;

EID: 78651491836     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5651421     Document Type: Conference Paper

References (18)

1. G. Sandini, G. Metta, and D. Vernon, "The iCub cognitive humanoid robot: An open-system research platform for enactive cognition," 50 Years of AI, vol. LNAI 4850, pp. 359-370, 2007.
2. A. Desantis, B. Siciliano, A. Deluca, and A. Bicchi, "An atlas of physical humanrobot interaction," Mechanism and Machine Theory, vol. 43, no. 3, pp. 253-270, March 2008.
3. R. Schiavi, B. A., and F. Flacco, "Integration of active and passive compliance control for safe human-robot coexistence," in 2009 IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, 12-17 May 2009.
4. M. Zinn, O. Khatib, B. Roth, and J. Salisbury, "Playing it safe - humanfriendly robots," Robotics & Automation Magazine, IEEE, vol. 11, no. 2, pp. 12-21, 2004.
5. G. Pratt and M. Williamson, "Series elastic actuators," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., vol. 1, Pittsburgh, PA, 1995, pp. 399-406.
6. R. Schiavi, G. Grioli, S. Sen, and A. Bicchi, "VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans," in 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 19-23 May 2008.
7. S. Haddadin, A. Albu-Schaffer, and G. Hirzinger, "Safety evaluation of phisical human-robot interaction via crash-testing," in Robotics: Science and System Conference (RSS 2007), Atlanta, Georgia, 2007.
8. M. Zinn, O. Khatib, B. Roth, and J. Salisbury, "A new actuation approach for human friendly robot design," in VIII, Springer Tracts in Advanced Robotics, B. Siciliano and E. P. Dario, Eds., Berlin: Spinger- Verlag, 2002.
9. B. Siciliano and L. Villani, Robot Force Control. Norwell, MA, USA: Kluwer Academic Publishers, 2000.
10. A. Parmiggiani, M. Randazzo, L. Natale, G. Metta, and G. Sandini, "Joint torque sensing for the upper-body of the iCub humanoid robot," in International Conference on Humanoid Robots, Paris, France, 2009.
11. G. Hirzinger, N. Sporer, A. Albu-Schaffer, M. Hahnle, R. Krenn, A. Pascuccum, and M. Schedl, "DLR's torque-controlled light weight robot III - are we reaching the technological limits now?" Robotics and Automation, 2002. Proceedings ICRA '02 IEEE International Conference on, vol. 2, pp. 1710-1716, 2002.
12. N. Tsagarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, J. Santos- Victor, M. Carrazzo, F. Becchi, and D. Caldwell, "icub - the design and realization of an open humanoid platform for cognitive and neuroscience research," International Journal of Advanced Robotics, vol. 21(10), pp. 1151-75, Oct. 2007.
13. G. Metta, G. Sandini, D. Vernon, L. Natale, and F. Nori, "The iCub humanoid robot: an open platform for research in embodied cognition," in PerMIS: Performance Metrics for Intelligent Systems Workshop, Washington DC, USA, Aug 19-21, 2008.
14. L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators, 2nd ed., ser. Advanced Textbooks in Control and Signal Processing series. London: Springer, 2005.
15. N. Tsagarakis, F. Becchi, L. Righetti, A. Ijspeert, and D. Caldwell, "Lower body realization of the baby humanoid - iCub," in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, Oct-Nov 2007.
16. M. Fumagalli, A. Gijsberts, S. Ivaldi, L. Jamone, G. Metta, L. Natale, F. Nori, and G. Sandini, Learning to Exploit Proximal Force Sensing: a Comparison Approach, ser. Studies in Computational Intelligence. Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 2010, vol. Volume 264/2010, pp. 149-167.
17. E. Colgate and N. Hogan, The Interaction of Robots with Passive Environments: Application to Force Feedback Control., ser. Advanced Robotics 1989, e. Kenneth J. Waldron, Ed. Berlin: Springer-Verlag, 1989.
18. R. Volpe and P. Khosla, "A theoretical and experimental investigation of explicit force control strategies for manipulators," IEEE Transactions on Automatic Control, vol. 38(11), pp. 1634-1650, November 1993.