Ajoudani, Arash.
Transferring Human Impedance Regulation Skills to Robots [electronic resource] / by Arash Ajoudani. - 1st ed. 2016. - XXIV, 167 p. 85 illus., 76 illus. in color. online resource. - Springer Tracts in Advanced Robotics, 110 1610-742X ; . - Springer Tracts in Advanced Robotics, 110 .
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.
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.
9783319242057
10.1007/978-3-319-24205-7 doi
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Computational intelligence.
Control, Robotics, Automation.
Artificial Intelligence.
Computational Intelligence.
Control and Systems Theory.
TJ212-225 TJ210.2-211.495
629.8
Transferring Human Impedance Regulation Skills to Robots [electronic resource] / by Arash Ajoudani. - 1st ed. 2016. - XXIV, 167 p. 85 illus., 76 illus. in color. online resource. - Springer Tracts in Advanced Robotics, 110 1610-742X ; . - Springer Tracts in Advanced Robotics, 110 .
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.
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.
9783319242057
10.1007/978-3-319-24205-7 doi
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Computational intelligence.
Control, Robotics, Automation.
Artificial Intelligence.
Computational Intelligence.
Control and Systems Theory.
TJ212-225 TJ210.2-211.495
629.8