Whiteboard Cleaning Task Realization with HOAP-2
File(s)Kormushev_SI2010.pdf (1.74 MB)
Accepted version
Author(s)
Type
Conference Paper
Abstract
The controller has a motion feedback control loop for the four arm joints and a force feedback control loop for the ankle joint. The desired motion/force trajectories are obtained via kinesthetic teaching by a human, followed by a learning phase. During skill demonstration, the arm joints are made compliant while the robot balances using ankle/hip strategies. Experimental data demonstrate the feasibility of the method.
Date Issued
2010
Date Acceptance
2010-12-21
Citation
Proc. SICE System Integration (SI-2010), 2010, pp.426-429
Start Page
426
End Page
429
Journal / Book Title
Proc. SICE System Integration (SI-2010)
Copyright Statement
© 2010 The Authors
Source
2010 IEEE/SICE International Symposium on System Integration SII 2010
Publication Status
Published
Start Date
2010-12-21
Finish Date
2010-12-22
Coverage Spatial
Sendai, Japan