Ajoudani Transferring Human Impedance Regulation Skills to Robots

1. Auflage 2016
ISBN: 978-3-319-24205-7
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 110, 167 Seiten, eBook

Reihe: Springer Tracts in Advanced Robotics

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.

Zielgruppe

Research

Autoren/Hrsg.

Ajoudani, Arash

Inhaltsverzeichnis

Introduction.- On the Role of Compliance andGeometry in Mechanical Stabilityof the Humans and Robots.- Teleimpedance Control of aRobotic Arm.- Human-like ImpedanceControl of a Dual-ArmManipulator.- Teleimpedance Control of aRobotic Hand.- Teleimpedance Control of aCompliant Knee Exoskeleton.