Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios.
Chen-Pin YuChun-Hung HuangChao-Chieh LanPublished in: IEEE Access (2023)
Keyphrases
- human robot interaction
- contact force
- joint space
- feedback loop
- human robot
- humanoid robot
- gesture recognition
- high levels
- human centered
- position control
- control algorithm
- control scheme
- force control
- induction motor
- dynamic model
- control system
- service robots
- robot programming
- image sequences
- manipulation tasks
- master slave
- motion planning
- degrees of freedom
- mathematical model
- reinforcement learning