Torque Sensors for Robot Joint Control InTech（InTech扭矩传感器对机器人关节控制的哲理）.pdfVIP

2 Torque Sensors for Robot Joint Control Dzmitry Tsetserukou and Susumu Tachi University of Tokyo Japan 1. Introduction In the field of service robotics, there is a growing need for robots capable of physical interaction with humans to assist with daily life tasks. The desired coexistence of robotic systems and humans in the same physical domain (sharing the same workspace and actually cooperating in a physical manner) poses very fundamental problem of ensuring safety to the user and robot. Even without wrong programming, a robot, moving freely in a human environment, is potentially dangerous because of its large moving masses, powerful actuators, and unpredictably complex behavior. Design and programming of the robots exhibiting intrinsically safe behavior in a human domain are great challenges in robotics because such robots have to deal with unstructured time-varying environment. Several humanoid robots aimed at integration into people environment were developed (Sakagami et al., 2002), (Kaneko et al., 2004). However, despite the splendid means for sensing the environment (visual, audio, and haptics), the 6-axis force/torque sensors attached at the tip of the robot arm and a stereo vision system which is slow to track the changing environment in real-time, are only the abilities to a