Abstract
This paper proposes a Virtual Ground Robot (VGR) that can interact with a human. The proposed Virtual Ground Robot creates a virtual ground, which has three-degree-of-freedom motions in the pitch, the roll and the height directions. The VGR are driven by Series Elastics Actuator(SEA), which enable force control without force sensor. In this paper, two types of training are proposed: Active training and Passive training. In order to implement two types of training, Geometric Posture and Spatial Impedance mode are suggested using control algorithm.
| Original language | English |
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| Title of host publication | 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 280-281 |
| Number of pages | 2 |
| ISBN (Electronic) | 9781509030552 |
| DOIs | |
| State | Published - 25 Jul 2017 |
| Event | 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of Duration: 28 Jun 2017 → 1 Jul 2017 |
Publication series
| Name | 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
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Conference
| Conference | 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
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| Country/Territory | Korea, Republic of |
| City | Jeju |
| Period | 28/06/17 → 1/07/17 |
Bibliographical note
Publisher Copyright:© 2017 IEEE.
Keywords
- Force control
- Parallel Robot
- Series Elastic Actuator (SEA)