Joint torque sensing for the upper-body of the iCub humanoid robot
Joint torque sensing for the upper-body of the iCub humanoid robot
复制标题
iCub 人形机器人上半身的关节扭矩传感
DOI：
10.1109/ichr.2009.5379525
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
G. Sandini
中科院分区：
文献类型：
--
作者：
A. Parmiggiani;M. Randazzo;L. Natale;G. Metta;G. Sandini
本文介绍了 iCub 平台手臂上三个关节扭矩传感器的设计和集成[1]、[2]。目标是增强机器人手臂的关节扭矩控制能力。该活动是人形机器人全面升级的一部分，旨在提供 53 自由度的低级关节扭矩控制能力。尤其是肩关节，由于其复杂而紧凑的机械结构，具有挑战性。我们首先使用解析方程对传感器的行为进行建模，随后使用有限元结构模拟对传感器的几何形状进行优化。然后构建传感器并将其集成到臂组件中。最后我们提出初步实验来验证设计。
This paper describes the design and integration of three joint torque sensors on the arm of the iCub platform [1], [2]. The objective is to enhance the robot arm with joint torque control capability. This activity is part of a general upgrade of the humanoid robot to provide the its 53 degrees of freedom low-level joint torque control capabilities. In particular, the shoulder joint is challenging because of its complex and compact mechanical structure. We first modeled the behaviour of the sensors with analytical equations and the sensor geometry were subsequently optimized using finite element structural simulations. The sensors were then constructed, and integrated in the arm assembly. Finally we present preliminary experiments to validate the design.