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  4. Compliance control with dual-arm humanoid robots: Design, planning and programming
 
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2010
Conference Paper
Title

Compliance control with dual-arm humanoid robots: Design, planning and programming

Abstract
A widespread application of impedance control in dual-arm robotic systems is still a challenging problem. One of limitations is the absence of a widely-accepted framework for the synthesis of the impedance control parameters that ensure stability of both contact transition and interaction processes and guarantee desired contact performance. The next critical problem relates planning and programming of complex impedance controlled bimanual operations. The proposed new design, planning and programming framework provides efficient and flexible algorithms and tools which considerably facilitate future dual-arm robot applications in complex assembly tasks. The initial testing with new Workerbot dual-arm system demonstrates applicability and feasibility of the proposed framework.
Author(s)
Surdilovic, D.
Yakut, Y.
Nguyen, T.-M.
Pham, X.B.
Vick, A.
Martin, R.
Mainwork
10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010  
Conference
International Conference on Humanoid Robots (Humanoids) 2010  
DOI
10.1109/ICHR.2010.5686273
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
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