On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback
Mehdi Benallegue,Rafael Cisneros,Abdelaziz Benallegue,Arnaud Tanguy,Adrien Escande,Mitsuharu Morisawa,Fumio Kanehiro,Mehdi Benallegue,Rafael Cisneros,Abdelaziz Benallegue,Arnaud Tanguy,Adrien Escande,Mitsuharu Morisawa,Fumio Kanehiro
In this paper we report the safety-oriented framework for controlling the torque in the case of robots with high reduction gears and having no joint torque feedback. This kind of robots suffer from high joint friction and low backdrivability, requiring high gains and integral feedback, which can be dangerous. Our optimization-based framework includes feasibility and safety features borrowed from p...
