Exploiting proximal F/T measurements for the iCub active compliance
Exploiting proximal F/T measurements for the iCub active compliance
复制标题
利用 iCub 主动顺应性的近端 F/T 测量
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
G. Sandini
中科院分区：
文献类型：
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作者：
M. Fumagalli;M. Randazzo;F. Nori;L. Natale;G. Metta;G. Sandini
在过去的几十年里，交互（与人类和环境）已经成为机器人领域研究的一个越来越有趣的话题。在相互作用的基础上，积极调节相互作用力量的能力起着根本性的作用。在本文中，我们提出了一种利用近六轴力/扭矩传感器控制相互作用力的技术。主要的假设是外力作用点的知识。该方法在iCub的四肢上进行了测试和验证，iCub是一种用于具身认知研究的类人机器人。值得注意的是，所提出的方法可以通过简单地沿运动链插入一个或多个力/扭矩传感器来实现其他非被动反向驱动机械手的主动顺应。
During the last decades, interaction (with humans and with the environment) has become an increasingly interesting topic of research within the field of robotics. At the basis of interaction, a fundamental role is played by the ability to actively regulate the interaction forces. In this paper we propose a technique for controlling the interaction forces exploiting a proximal six axes force/torque sensor. The major assumption is the knowledge of the point where external forces are applied. The proposed approach is tested and validated on the four limbs of the iCub, a humanoid robot designed for research in embodied cognition. Remarkably, the proposed approach can be used to implement active compliance in other non passively back-drivable manipulators by simply inserting one or more force/torque sensor anywhere along the kinematic chain.