Transferring Human Impedance Regulation Skills to Robots
(Sprache: Englisch)
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...
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Klappentext zu „Transferring Human Impedance Regulation Skills to Robots “
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.Inhaltsverzeichnis zu „Transferring Human Impedance Regulation Skills to Robots “
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.
Bibliographische Angaben
- Autor: Arash Ajoudani
- 2016, Softcover reprint of the original 1st ed. 2016, XXIV, 167 Seiten, 76 farbige Abbildungen, Masse: 15,5 x 23,5 cm, Kartoniert (TB), Englisch
- Verlag: Springer, Berlin
- ISBN-10: 3319370286
- ISBN-13: 9783319370286
Sprache:
Englisch
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