Intelligent variable joint impedance control and development of a new whole-sensitive anthropomorphic robot arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Citations (Scopus)

Abstract

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. In the paper, we detail the design procedure of 4-DOF robot arm and optical torque sensors. The experimental results of variable joint impedance control show that proposed approach not only provides safe interaction of entire structure of robot arm with a person, but also improves the effectiveness of contact task performance, enables thus to contact with environment in a delicate manner.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Pages338-343
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 - Jacksonville, FL, United States
Duration: 20 Jun 200723 Jun 2007

Publication series

NameProceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

Conference

Conference2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Country/TerritoryUnited States
CityJacksonville, FL
Period20/06/0723/06/07

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