Arash Ajoudani
Transferring Human Impedance Regulation Skills to Robots
Paperback Engels 2016 9783319370286
Verwachte levertijd ongeveer 9 werkdagen
Samenvatting
This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
Specificaties
ISBN13:9783319370286
Taal:Engels
Bindwijze:paperback
Uitgever:Springer International Publishing
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Inhoudsopgave
<p>Introduction.- </p><p></p><p></p><p>On the Role of Compliance and</p><p> </p><p>Geometry in Mechanical Stability</p><p> </p><p>of the Humans and Robots.- </p><p></p><p></p><p>Teleimpedance Control of a</p><p> </p><p>Robotic Arm.- </p><p></p><p></p><p>Human-like Impedance</p><p> </p><p>Control of a Dual-Arm</p><p> </p><p>Manipulator.- </p><p></p><p></p><p>Teleimpedance Control of a</p><p> </p><p>Robotic Hand.- </p><p></p><p></p><p>Teleimpedance Control of a</p><p> </p><p>Compliant Knee Exoskeleton.</p><p></p><p></p><p></p><p></p><p></p><p></p><p></p><p></p><p></p><p></p>
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