Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot /

• Κύριος συγγραφέας: Fumagalli, Matteo (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Σειρά: Springer Theses, Recognizing Outstanding Ph.D. Research,
• Θέματα: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Automation.; Control.; Artificial Intelligence (incl. Robotics).; Robotics and Automation.

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot...