Transferring Human Impedance Regulation Skills to Robots
Ajoudani, Arash
Transferring Human Impedance Regulation Skills to Robots by Arash Ajoudani - 1st ed. - Cham Springer International Publishing 2016 - 1 recurso en línea (XXIV, 167 páginas) 85 ilustraciones, 76 ilustraciones en color - Springer Tracts in Advanced Robotics 110 1610-7438 .
Introduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton.
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.
9783319242057
Inteligencia artificial
Robótica
TJ211 / .A368 2016
629.892
Transferring Human Impedance Regulation Skills to Robots by Arash Ajoudani - 1st ed. - Cham Springer International Publishing 2016 - 1 recurso en línea (XXIV, 167 páginas) 85 ilustraciones, 76 ilustraciones en color - Springer Tracts in Advanced Robotics 110 1610-7438 .
Introduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton.
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.
9783319242057
Inteligencia artificial
Robótica
TJ211 / .A368 2016
629.892