Whiteboard Cleaning Task Realization with HOAP-2

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Title: Whiteboard Cleaning Task Realization with HOAP-2
Authors: Sato, F
Nishii, T
Takahashi, J
Yoshida, Y
Mitsuhashi, M
Kormushev, P
Kanamiya, Y
Item 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.
Issue Date: 21-Dec-2010
Date of Acceptance: 21-Dec-2010
URI: http://hdl.handle.net/10044/1/26094
Start Page: 426
End Page: 429
Journal / Book Title: Proc. SICE System Integration (SI-2010)
Copyright Statement: © 2010 The Authors
Conference Name: 2010 IEEE/SICE International Symposium on System Integration SII 2010
Publication Status: Published
Start Date: 2010-12-21
Finish Date: 2010-12-22
Conference Place: Sendai, Japan
Appears in Collections:Dyson School of Design Engineering



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