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. ©2010 IEEE.
CITATION STYLE
Fumagalli, M., Randazzo, M., Nori, F., Natale, L., Metta, G., & Sandini, G. (2010). Exploiting proximal F/T measurements for the iCub active compliance. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1870–1876). IEEE Computer Society. https://doi.org/10.1109/IROS.2010.5651421
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