ICRA 2019poster11 citations
A parallel low-impedance sensing approach for highly responsive physical human-robot interaction
Gabriel Boucher, Thierry Laliberté, Clément Gosselin
Abstract
This paper presents a novel sensing approach for the physical interaction between a human user and a serial robotic arm. The approach is inspired from the concept of macro-mini robot architecture. The framework is developed for a general multi-degree-of-freedom serial robot and a corresponding impedance control scheme is proposed. In order to illustrate the concept, a five-degree-of-freedom robotic arm was built as well as a six-degree-of-freedom low-impedance sensing device that is used to control the robot. Experimental results are provided.
BibTeX
@inproceedings{icra2019_aparallellowimpe,
title = {A parallel low-impedance sensing approach for highly responsive physical human-robot interaction},
author = {Gabriel Boucher and Thierry Laliberté and Clément Gosselin},
booktitle = {ICRA 2019},
year = {2019}
}