Abstract In the growing field of service robotics the interaction between humans and robots will be of significant importance. Special focus will be on touch as a means of interaction between humans and robots. In this paper the interactive features of the kinematic redundant DLR lightweight robot are presented. At the example of an inverted pendulum the “interactive nullspace motion” is introduced, where the user is able to modify the configuration as a subtask while balancing the pendulum as primary task. Different ways of nullspace interaction are shown, either contact-free by a teach-device or a position tracker. Special focus will be on touching the robot, whereas the joint torque sensors measure the external touch.
Interactions with a Kinematic Redundant Robot while Balancing an Inverted Pendulum
2004-11-13
15 pages
Article/Chapter (Book)
Electronic Resource
English
Static balancing of an inverted pendulum with prestressed torsion bars
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