A comparison between joint level torque sensing and proximal F/T sensor torque estimation: Implementation on the iCub.
Marco RandazzoMatteo FumagalliFrancesco NoriLorenzo NataleGiorgio MettaGiulio SandiniPublished in: IROS (2011)
Keyphrases
- sensor networks
- contact force
- control algorithm
- control scheme
- eddy current
- induction motor
- real time
- dynamic model
- sensor fusion
- control strategy
- feedback loop
- sensor data
- position control
- joint space
- higher level
- accurate estimation
- image sensor
- external forces
- sensing devices
- direct drive
- force control
- human robot interaction
- brushless dc
- estimation accuracy
- levels of abstraction
- estimation algorithm
- hardware implementation
- data acquisition
- data fusion
- parameter estimation
- image sequences