Joint Torque Estimation using Base Force-Torque Sensor to Facilitate Physical Human-Robot Interaction (pHRI).
Sumit Kumar DasMohammad Nasser SaadatziShamsudeen AbubakarDan O. PopaPublished in: CASE (2019)
Keyphrases
- contact force
- human robot interaction
- position control
- external forces
- force control
- master slave
- human robot
- control scheme
- human centered
- gesture recognition
- finite element analysis
- robotic manipulator
- induction motor
- robot programming
- pointing gestures
- force feedback
- humanoid robot
- control algorithm
- closed loop
- service robots
- finite element model
- manipulation tasks
- sensor networks
- robot manipulators
- feedback loop
- control strategy
- sensor data
- multi modal
- control system