A Compliance Control Method Based on Viscoelastic Model for Position-Controlled Humanoid Robots
Qingqing Li,Zhangguo Yu,Xuechao Chen,Libo Meng,Qiang Huang,Chenglong Fu,Ken Chen,Chunjing Tao,Qingqing Li,Zhangguo Yu,Xuechao Chen,Libo Meng,Qiang Huang,Chenglong Fu,Ken Chen,Chunjing Tao
Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control method based on viscoelastic model for humanoid robots to survive on these conditions. The viscoelastic...
