Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot
Buch | Hardcover
XIX, 105 Seiten
2013 | 2014
Springer International Publishing (Verlag)
978-3-319-01121-9 (ISBN)

Lese- und Medienproben

Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors - Matteo Fumagalli
106,99 inkl. MwSt
This book presents a novel methodology to increase the perceptual capabilities of robotic systems and to perform interaction control by means of a limited amount of mechanical sensors.

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot's kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

Part I Increasing Perceptual Skills of Robots Through Proximal FTSs.-

Improving the Estimate of Proprioceptive Measurements.

Erscheint lt. Verlag 10.9.2013
Reihe/Serie Springer Theses
Zusatzinfo XIX, 105 p. 54 illus., 15 illus. in color.
Verlagsort Cham
Sprache englisch
Maße 155 x 235 mm
Gewicht 362 g
Themenwelt Informatik Theorie / Studium Künstliche Intelligenz / Robotik
Technik Elektrotechnik / Energietechnik
Schlagworte Distributed tactile sensors • Force Perception • humanoid robots • human robot interaction • iCub robot • Interaction control • Multi-Body System Dynamics
ISBN-10 3-319-01121-9 / 3319011219
ISBN-13 978-3-319-01121-9 / 9783319011219
Zustand Neuware
Haben Sie eine Frage zum Produkt?
Mehr entdecken
aus dem Bereich
von absurd bis tödlich: Die Tücken der künstlichen Intelligenz

von Katharina Zweig

Buch | Softcover (2023)
Heyne (Verlag)
20,00