IEEE - Institute of Electrical and Electronics Engineers, Inc. - Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Ren C. Luo ; Yi-Wen Perng ; Bo-Han Shih ; Yun-Hsuan Tsai
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 496 - 501
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630620
Regular:

This paper describes Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm including velocity control incorporate with End-Effector... View More

Advertisement