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Human-like Compliance for Dexterous Robot HandsThis paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.
Document ID
20060037098
Document Type
Conference Paper
External Source(s)
Authors
Jau, Bruno M.
Date Acquired
August 23, 2013
Publication Date
August 30, 1995
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Distribution Limits
Public
Copyright
Other
Keywords
Compliant Control
Active Compliance