Transferring Human Impedance Regulation Skills to Robots

Arash Ajoudani (Autor)

Buch | Softcover

XXIV, 167 Seiten

2016 | Softcover reprint of the original 1st ed. 2016
Springer International Publishing (Verlag)
978-3-319-37028-6 (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.

Erscheinungsdatum	19.08.2017
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
Gewicht	302 g
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	Human Impedance Regulation Skills • Impedance control • Physical Human-Robot Interaction • Robotics • Teleoperation
ISBN-10	3-319-37028-6 / 3319370286
ISBN-13	978-3-319-37028-6 / 9783319370286
Zustand	Neuware