Arash Ajoudani

Transferring Human Impedance Regulation Skills to Robots (eBook, PDF)

• Format: PDF

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.

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Produktdetails

• Verlag: Springer International Publishing
• Seitenzahl: 167
• Erscheinungstermin: 5. November 2015
• Englisch
• ISBN-13: 9783319242057
• Artikelnr.: 44620826

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.