Haptic Workspace Control of the Humanoid Robot Arms
Authors: 
Longjiang Zhou, Albertus Hendrawan Adiwahono, Yuanwei Chua, Wei Liang ChanAuthors Info & Claims
Longjiang Zhou, Albertus Hendrawan Adiwahono, Yuanwei Chua, Wei Liang ChanAuthors Info & ClaimsPages 263 - 266
Abstract
This paper presents a haptic workspace control approach to the arms of a humanoid robot by using the Omega 7 haptic device as the control input device. The haptic device with small workspace is used to control the robot with 2 arm end-effectors of large workspace. This paper also puts forward an approach for users to feel the haptic feedback force when the robot end-effectors touch the virtual boundary areas for the safety consideration. The haptic device can move further but the robot arm end-effector will stop and the haptic force generated is proportional to the travel distance of the haptic device end-effectors until reaching the maximum value of force permitted by the designer. Simulation experiments are designed and implemented to test the motion performance of the arm end-effectors under control of haptic device and the generated haptic force when the virtual boundary walls are reached by the arm end-effectors.
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Index Terms
- Haptic Workspace Control of the Humanoid Robot Arms
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Published In
October 2016
414 pages
ISBN:9781450345088
DOI:10.1145/2974804
- General Chairs:
- Wei Yun Yau,
- Takashi Omori,
- Program Chairs:
- Giorgio Metta,
- Hirotaka Osawa,
- Shengdong Zhao
Copyright © 2016 Owner/Author.
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.
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- Chinese and Oriental Language Information Processing Society: Chinese and Oriental Language Information Processing Society
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Association for Computing Machinery
New York, NY, United States
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Published: 04 October 2016
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HAI '16
Sponsor:
- Chinese and Oriental Language Information Processing Society
HAI '16: The Fourth International Conference on Human Agent Interaction
October 4 - 7, 2016
Biopolis, Singapore
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HAI '16 Paper Acceptance Rate 29 of 182 submissions, 16%;
Overall Acceptance Rate 121 of 404 submissions, 30%
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