Article thumbnail

Joystick Force Feedback based on Proximity to the Linearised Workspace of the Four-legged Robot ALDURO

By Daniel Germann, Tobias Bruckmann and Manfred Hiller

Abstract

The aim of this paper is to investigate possibilities for controlling a four-legged walking robot (ALDURO) with a force feedback joystick. A way to filter motion induced errors out of the input data is shown, as well as ways to prevent them by using force feedback. Force feedback can also be used to supply the operator with information about the workspace of ALDURO. A linearised approximation of the workspace of a leg, and a basic approach to extend it to the whole robot are described

Year: 2001
OAI identifier: oai:CiteSeerX.psu:10.1.1.18.5710
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://www.mechatronik.uni-dui... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.