Modeling and control for whole arm dynamic cooperative manipulation

Fumihiko Asano, Zhi Wei Luo, Kenji Tahara, Masaki Yamakita, Shigeyuki Hosoe

研究成果: 著書/レポートタイプへの貢献会議での発言

2 引用 (Scopus)

抜粋

This paper studies modeling and bio-mimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. A sphere is considered here as a manipulated object. The control law is designed based on integration of voluntary and reflex movements considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at the four contact points with the object using the contact force information from the sensitive skin. The reflection on the other hand is introduced as a regulation problem of the direction between the points of end-effectors and elbows. The solution for the redundant control is formulated and derived from the optimization point of view. The validity of the proposed method is investigated by numerical simulations.

元の言語英語
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ3282-3287
ページ数6
出版物ステータス出版済み - 12 1 2004
外部発表Yes
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, 日本
継続期間: 9 28 200410 2 2004

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4

その他

その他2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
日本
Sendai
期間9/28/0410/2/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • これを引用

    Asano, F., Luo, Z. W., Tahara, K., Yamakita, M., & Hosoe, S. (2004). Modeling and control for whole arm dynamic cooperative manipulation. : 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3282-3287). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 巻数 4).