IEEE - Institute of Electrical and Electronics Engineers, Inc. - Enhancement of Manipulator Interactivity through Compliant Skin and Extended Kalman Filtering

3rd Annual IEEE Conference on Automation Science and Engineering

Author(s): J. Rajruangrabin ; D.O. Popa
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2007
Conference Location: Scottsdale, AZ, USA
Conference Date: 22 September 2007
Page(s): 1,111 - 1,116
ISBN (CD): 978-1-4244-1154-2
ISBN (Paper): 978-1-4244-1153-5
DOI: 10.1109/COASE.2007.4341719
Regular:

In this paper we discuss control algorithms for real-time interaction between humans and robot manipulators sharing a common workspace. Unlike traditional robotic manipulators, we assume that the... View More

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