Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control

International Journal of Social Robotics

Volumn 2, Issue 3, 2010, Pages 305-319

  Khan, Said Ghani ^a   Herrmann, Guido ^b   Pipe, Tony ^a   Melhuish, Chris ^a   Spiers, Adam ^b  

^a UNIVERSITY OF THE WEST OF ENGLAND   (United Kingdom)

^b UNIVERSITY OF BRISTOL   (United Kingdom)

Author keywords

Adaptive compliance control; Anti windup compensation; Posture control; Safe human robot interaction

Indexed keywords

AGRICULTURAL ROBOTS; ANTHROPOMORPHIC ROBOTS; CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); MAN MACHINE SYSTEMS; MANIPULATORS; MODEL REFERENCE ADAPTIVE CONTROL; ROBOT APPLICATIONS; ROBOTIC ARMS; ROBOTICS; SOCIAL ROBOTS;

4 DEGREES OF FREEDOM; ACTUATOR SATURATIONS; ANTI-WINDUP COMPENSATION; ANTI-WINDUP COMPENSATOR; MASS-SPRING-DAMPER SYSTEM; PHYSICAL HUMAN-ROBOT INTERACTIONS; POSTURE CONTROL; SAFE HUMAN-ROBOT INTERACTION;

COMPLIANCE CONTROL;

EID: 84857639663     PISSN: 18754791     EISSN: 18754805     Source Type: Journal    
DOI: 10.1007/s12369-010-0058-7     Document Type: Article

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