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Transferring Human Impedance Regulation Skills to Robots

Arash Ajoudani (Autor)

Buch | Hardcover

XXIV, 167 Seiten

2015 | 1st ed. 2016
Springer International Publishing (Verlag)
978-3-319-24203-3 (ISBN)

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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.

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.

Erscheint lt. Verlag	16.10.2015
Reihe/Serie	Springer Tracts in Advanced Robotics
Zusatzinfo	XXIV, 167 p. 85 illus., 76 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	artificial intelligence (incl. robotics) • Computational Intelligence • Control • Engineering • Human Impedance Regulation Skills • Impedance control • Physical Human-Robot Interaction • Robotics • Robotics and Automation • Teleoperation
ISBN-10	3-319-24203-2 / 3319242032
ISBN-13	978-3-319-24203-3 / 9783319242033
Zustand	Neuware