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Titel:

Interactive Force Control Based on Multimodal Robot Skin for Physical Human−Robot Collaboration

Dokumenttyp:
Magazinartikel
Autor(en):
Simon Armleder, Dr. Emmanuel Dean-Leon, Florian Bergner, Prof. Gordon Cheng
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....     »
Zeitschriftentitel:
Advanced Intelligent Systems
Jahr:
2021
Jahr / Monat:
2021-07
Monat:
Jul
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1002/aisy.202100047
WWW:
https://doi.org/10.1002/aisy.202100047
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