Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm

Meng Cheng Lau, Chi Tai Cheng, Jacky Baltes, John Anderson

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This paper we introduce a torque feedback control (TFC) model to estimate pressure of the hand on a 4-DOF robotic arm of Betty, a humanoid robot. Based on several preliminary experiments of different stroke patterns, we measured and analysed the torque replies of Betty’s servos in order to model the torque feedback. We developed a robust humanoid system to create sketch like drawing with limited hardware which has no force sensor but basic torque feedback from servos to estimate pressure apply on drawing pad. We investigated the efficiency of using the TFC in the drawing task based on several different stroke patterns. The experimental results indicate that the TFC model successfully corrected the errors during the drawing task.

原文英語
主出版物標題Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
編輯Weimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
發行者Springer Verlag
頁面401-410
頁數10
ISBN(列印)9783319168401
DOIs
出版狀態已發佈 - 2015 一月 1
事件3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, 中国
持續時間: 2014 十一月 62014 十一月 8

出版系列

名字Advances in Intelligent Systems and Computing
345
ISSN(列印)2194-5357

其他

其他3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
國家/地區中国
城市Beijing
期間2014/11/062014/11/08

ASJC Scopus subject areas

  • 控制與系統工程
  • 電腦科學(全部)

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