Transferring Human Impedance Regulation Skills to Robots

• Κύριος συγγραφέας: Ajoudani, Arash (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Σειρά: Springer Tracts in Advanced Robotics, 110
• Θέματα: Engineering.; Artificial intelligence.; Computational intelligence.; Control engineering.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Computational Intelligence.; Control.
• Φυσική περιγραφή: XXIV, 167 p. 85 illus., 76 illus. in color. online resource.
• ISBN: 9783319242057
• ISSN: 1610-7438 ;

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.