Transferring Human Impedance Regulation Skills to Robots

Softcover Nachdruck of the original 1. Auflage 2016
ISBN: 978-3-319-37028-6
Verlag: Springer International Publishing

Buch, Englisch, Band 110, 167 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 2993 g

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

Fachgebiete

• Mathematik | Informatik EDV | Informatik Informatik Mensch-Maschine-Interaktion
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

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.