Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2013 (2013), Article ID 256364, 14 pages
http://dx.doi.org/10.1155/2013/256364
Research Article

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

1R&D Department, Creative Design Laboratory, Humanot s.r.l., via Modigliani 7-59100 Prato, Italy
2Department of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
3Humanoid Robotics Institute, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
4The BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy

Received 31 October 2012; Revised 29 January 2013; Accepted 29 January 2013

Academic Editor: Huosheng Hu

Copyright © 2013 Giovanni Gerardo Muscolo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

How to Cite this Article

Giovanni Gerardo Muscolo, Kenji Hashimoto, Atsuo Takanishi, and Paolo Dario, “A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm,” Journal of Robotics, vol. 2013, Article ID 256364, 14 pages, 2013. doi:10.1155/2013/256364