Transferring Human Impedance Regulation Skills to Robots
tarafından
Ajoudani, Arash. author.
Başlık
:
Transferring Human Impedance Regulation Skills to Robots
Yazar
:
Ajoudani, Arash. author.
ISBN
:
9783319242057
Yazar
:
Ajoudani, Arash. author.
Edisyon
:
1st ed. 2016.
Fiziksel Niteleme
:
XXIV, 167 p. 85 illus., 76 illus. in color. online resource.
Seri
:
Springer Tracts in Advanced Robotics, 110
İçindekiler
:
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.
Özet
:
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.
Konu Başlığı
:
Engineering.
Artificial intelligence.
Computational intelligence.
Control engineering.
Robotics.
Automation.
Robotics and Automation.
Artificial Intelligence (incl. Robotics).
Control.
Ek Kurum Yazar
:
SpringerLink (Online service)
Elektronik Erişim
:
Materyal Türü | Barkod | Yer Numarası | Durumu/İade Tarihi |
---|
Electronic Book | 16905-1001 | TJ210.2 -211.495 | Springer E-Book Collection |