Human-like Compliance for Dexterous Robot Hands

摘要

Abstract: l’his paper describes the Active Electromechanical Compliance (A EC) sys[em that wa developed for the Jau-JP1. anthropomorphic robot. The AEC system imilates the functionality of (he human m~vcle’s secondaty fun {on,. i which is 10 control the joint’s stljjfness: AEC is implemented through servo controlling the join ( drive train ‘S sti nes).> The control strategy, controlling compliant joints in teleoperation, is described. 1 [ enables automatic hybrid po~~tion and force control through utilizing sensory feedback from joint and compliance sensors. l’his compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft graspirrg by the robot han~pnd opens the way to many new robotics applications.