Demonstrating the Benefits of Variable Impedance to Telerobotic Task Execution

摘要：

Inspired by human physiology, variable impedance actuation has been shown to benefit safety with its ability to modulate impact forces. But humans also continually adjust impedance during contact and throughout manipulation tasks. We examine the value and effect of continual impedance variation on quasi-static manipulation. We approach this challenge from the perspective of telerobotics where the operator can explicitly modulate the robotic impedance. Using a three degree of freedom planar teleoperation system we explore two quasi-static tasks: inserting a rigid peg into a tight hole and throwing a switch without overshoot. The work finds that no single impedance can optimally accomplish both tasks. Instead user-controlled impedance variations achieve the desired results, demonstrating the benefits of variable impedance to quasi-static applications in telerobotics.

作者: Daniel S. Walker J. Kenneth Salisbury G(u)nter Niemeyer

作者单位: Department of Mechanical Engineering,Stanford University,Stanford,CA 94305,USA Departments of Computer Science and Surgery,Stanford University,Stanford,CA 94305,USA Faculty of Mechanical Engineering,Stanford University,Stanford,CA 94305,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1348-1353

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）