Transferring Human Impedance Regulation Skills to Robots
Seiten
2016
|
1. Softcover reprint of the original 1st ed. 2016
Springer International Publishing (Verlag)
978-3-319-37028-6 (ISBN)
Springer International Publishing (Verlag)
978-3-319-37028-6 (ISBN)
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 |
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