000 03743nam a22005295i 4500
001 978-3-319-40557-5
003 DE-He213
005 20200421112227.0
007 cr nn 008mamaa
008 160702s2016 gw | s |||| 0|eng d
020 _a9783319405575
_9978-3-319-40557-5
024 7 _a10.1007/978-3-319-40557-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aDietrich, Alexander.
_eauthor.
245 1 0 _aWhole-Body Impedance Control of Wheeled Humanoid Robots
_h[electronic resource] /
_cby Alexander Dietrich.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2016.
300 _aXV, 187 p. 82 illus., 71 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v116
505 0 _aIntroduction.-Fundamentals -- Control Tasks Based on Artificial Potential Fields -- Redundancy Resolution by Null Space Projections -- Stability Analysis -- Whole-Body Coordination -- Integration of the Whole-Body Controller into a Higher-Level Framework -- Summary.
520 _aIntroducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin' Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
650 0 _aEngineering.
650 0 _aUser interfaces (Computer systems).
650 0 _aArtificial intelligence.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aUser Interfaces and Human Computer Interaction.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319405568
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v116
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-40557-5
912 _aZDB-2-ENG
942 _cEBK
999 _c57728
_d57728