Optical torque sensors for implementation of local impedance control of the arm of humanoid robot

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Susumu Tachi

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

55 Citations (Scopus)

Abstract

This paper describes the recent development of new optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1674-1679
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • Impedance control
  • Optical torque sensor

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