An Admittance Control Method Based on Parameters Fuzzification for Humanoid Steering Wheel Manipulation
Tuochang Wu,
Junkai Ren,
Chuang Cheng
et al.
Abstract:Developing a human bionic manipulator to achieve certain humanoid behavioral skills is a rising problem. Enabling robots to operate the steering wheel to drive the vehicle is a challenging task. To address the problem, this work designs a novel 7-DOF (degree of freedom) humanoid manipulator based on the arm structure of human bionics. The 3-2-2 structural arrangement of the motors and the structural modifications at the wrist allow the manipulator to act more similar to a man. Meanwhile, to manipulate the stee… Show more
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