Email RIS file
Bookmark
Report an Issue

Transferring Human Impedance Regulation Skills to Robots [electronic resource] / by Arash Ajoudani

Author
Ajoudani, Arash
Published
Cham : Springer International Publishing : Imprint: Springer, 2016.
Edition
1st ed. 2016.
Physical Description
XXIV, 167 p. 85 illus., 76 illus. in color. online resource
Additional Creators
SpringerLink (Online service)
Access Online

Availability

I Want It
I Want It

Finding items...

Series
Contents
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.
Summary
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.
Subject(s)
ISBN
9783319242057
Digital File Characteristics
text file PDF
Note
AVAILABLE ONLINE TO AUTHORIZED PSU USERS.
Part Of
Springer eBooks
View MARC record | catkey: 16623780