Transferring Human Impedance Regulation Skills to Robots
Author:   Arash Ajoudani
Publisher:   Springer International Publishing AG
Edition:   1st ed. 2016
Volume:   110
ISBN:  

9783319242033


Pages:   167
Publication Date:   16 October 2015
Format:   Hardback
Availability:   Manufactured on demand   Availability explained
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Transferring Human Impedance Regulation Skills to Robots


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Overview

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.

Full Product Details

Author:   Arash Ajoudani
Publisher:   Springer International Publishing AG
Imprint:   Springer International Publishing AG
Edition:   1st ed. 2016
Volume:   110
Dimensions:   Width: 15.50cm , Height: 1.30cm , Length: 23.50cm
Weight:   4.144kg
ISBN:  

9783319242033


ISBN 10:   3319242032
Pages:   167
Publication Date:   16 October 2015
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of 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.

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