Shintaro Komatsu

Humanoid Robot’s Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors

We present a torque controller for humanoid robot's arm and a method to execute heavy-load tasks under that controller. Torque control of arms can reduce the joint load when an impulsive force is applied to the robot's hand. This feature is important for robots that will work among many humans or ob…