Implementation of a robot-human object handover controller on a compliant underactuated hand using joint position error measurements for grip force and load force estimations.
Wesley P. ChanIori KumagaiShunichi NozawaYouhei KakiuchiKei OkadaMasayuki InabaPublished in: ICRA (2014)
Keyphrases
- position control
- robotic manipulator
- end effector
- force control
- degrees of freedom
- control scheme
- impedance control
- control system
- human arm
- closed loop
- robotic systems
- robot arm
- robot manipulators
- control strategies
- position and orientation
- control architecture
- visual servoing
- vision system
- dc motor
- contact force
- inverse kinematics
- joint angles
- human hand
- motion planning
- control strategy
- pid controller
- tactile sensing
- central pattern generator
- load balancing
- force feedback
- robotic arm
- configuration space
- control law
- tracking error
- manipulation tasks
- dynamic model
- real time
- force sensing
- mobile robot