Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks

Robotics and Autonomous Systems Volume 56 Issue 4 Page 306-316 published_at 2008-04
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Title ( eng )
Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks
Creator
Source Title
Robotics and Autonomous Systems
Volume 56
Issue 4
Start Page 306
End Page 316
Abstract
A human performs a variety of skillful movements by adjusting dynamic characteristics of his or her musculoskeletal system according to a task involved. Such characteristics of human movements can be described by mechanical impedance parameters. If the regulation mechanism of human impedance properties during the task can be clarified and modeled, there is a possibility that human skillful strategies can be integrated into robot motion control. This paper investigates human hand impedance in preparation for task operations, the so-called “task-readiness impedance", in a virtual ball-catching task. It further discusses a bio-mimetic impedance control of robotic manipulators for contact tasks via computer simulations using measured task-readiness impedance.
Keywords
human arm movements
impedance control
contact tasks
robotic manipulator
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
Elsevier Ltd
Date of Issued 2008-04
Rights
Copyright (c) 2007 Elsevier Ltd
Publish Type Author’s Original
Access Rights open access
Source Identifier
[NCID] AA10710245
[ISSN] 0921-8890
[DOI] 10.1016/j.robot.2007.09.001
[DOI] http://dx.doi.org/10.1016/j.robot.2007.09.001 isVersionOf