A joint torque sensing technique for robots with harmonic drives.

Minoru Hashimoto Yoshihide Kiyosawa Hideki Hirabayashi Richard P. Paul

Published in: ICRA (1991)

Keyphrases

unstructured environments
joint space
mobile robot
brushless dc
cooperative
multi robot
robotic systems
autonomous robots
multiple robots
physical objects
real time
humanoid robot
dynamic model
multi robot systems
degrees of freedom
sensor networks
fuzzy logic control
position control
external forces
data sets