Journal
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)
Volume -, Issue -, Pages 280-281Publisher
IEEE
Keywords
Series Elastic Actuator (SEA); Force control; Parallel Robot
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This paper proposes a Virtual Ground Robot (VGR) that can interact with a human. The proposed Virtual Ground Robot creates a virtual ground, which has three-degree-of freedom motions in the pitch, the roll and the height directions. The VGR are driven by Series Elastics Actuator(SEA), which enable force control without force sensor. In this paper, two types of training are proposed: Active training and Passive training. In order to implement two types of training, Geometric Posture and Spatial Impedance mode are suggested using control algorithm.
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