Arash Ajoudani

Transferring Human Impedance Regulation Skills to Robots

• Gebundenes Buch

Produktbeschreibung

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.

Produktdetails

• Springer Tracts in Advanced Robotics 110
• Verlag: Springer / Springer International Publishing / Springer, Berlin
• Artikelnr. des Verlages: 978-3-319-24203-3
• 1st ed.
• Seitenzahl: 192
• Erscheinungstermin: 16. Oktober 2015
• Englisch
• Abmessung: 241mm x 160mm x 17mm
• Gewicht: 403g
• ISBN-13: 9783319242033
• ISBN-10: 3319242032
• Artikelnr.: 43439124

Inhaltsangabe

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.