Paper Info
Title
Pressure-Driven Body Compliance Using Robot Skin
Abstract
Skin can provide rich multi-modal contact information about the interaction forces of a robot with its environment. With this new way of sensing, a new generation of compliant controllers can be developed to enable different kinds of interactions. In this letter, a pressure-driven compliance controller is presented to generate virtual compliant forces depending on both external contact forces and their area of contact. The proposed controller can be adapted for any skin technology that provides a spatial distribution of force sensors over the surface of a robot and the geometry of the contact areas. This modality of body compliance is formulated as a task function, which can be inserted in strict or non-strict hierarchical task execution policies. The controller was tested on the upper body of a humanoid robot (16 DoF) covered with robot skin.
Year
DOI
Venue
2019
10.1109/LRA.2019.2928214
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Robot sensing systems, Skin, Force, Kinematics, Robot kinematics, Contact modeling, force and tactile sensing, compliance and impedance control
Journal
4
Issue
ISSN
Citations 
4
2377-3766
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Julio Rogelio Guadarrama-Olvera100.34
Emmanuel C. Dean-Leon26215.39
Florian Bergner3216.14
Gordon Cheng41250115.33