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Document type:
Magazinartikel 
Author(s):
Simon Armleder, Dr. Emmanuel Dean-Leon, Florian Bergner, Prof. Gordon Cheng 
Title:
Interactive Force Control Based on Multimodal Robot Skin for Physical Human−Robot Collaboration 
Abstract:
This work proposes and realizes a control architecture that can support the deployment of a large-scale robot skin in a Human-Robot Collaboration scenario. It is shown, how whole-body tactile feedback can extend the capabilities of robots during dynamic interactions by providing information about multiple contacts across the robot's surface. Specifically, an uncalibrated skin system is used to implement stable force control while simultaneously handling the multi-contact interactions of a user....    »
 
Journal title:
Advanced Intelligent Systems 
Year:
2021 
Year / month:
2021-07 
Month:
Jul 
Reviewed:
ja 
Language:
en 
Fulltext / DOI: