RA-L 20181 citations
Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation
Wei Wang, Chang Wei, Yuki Suga, Chiahao Kuo, Alexander Schmitz, Shigeki Sugano
Abstract
Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.
BibTeX
@inproceedings{ral2018_largerangeimpeda,
title = {Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation},
author = {Wei Wang and Chang Wei and Yuki Suga and Chiahao Kuo and Alexander Schmitz and Shigeki Sugano},
booktitle = {RA-L 2018},
year = {2018}
}