Title :
Optical torque sensors for implementation of local impedance control of the arm of humanoid robot
Author :
Tsetserukou, Dzmitry ; Tadakuma, Riichiro ; Kajimoto, Hiroyuki ; Tachi, Susumu
Author_Institution :
Graduate Sch. of Inf. Sci. & Technol., Tokyo Univ.
Abstract :
This paper describes the recent development of new optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint
Keywords :
humanoid robots; mechanical variables control; optical sensors; telerobotics; anthropomorphic robot arm; humanoid robot; local impedance control; optical torque sensors; Anthropomorphism; Capacitive sensors; Humanoid robots; Impedance; Optical control; Optical sensors; Robot sensing systems; Sensor phenomena and characterization; Strain control; Torque control;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641947
