Transferring Human Impedance Regulation Skills to Robots

• Main Author: Ajoudani, Arash (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Series: Springer Tracts in Advanced Robotics, 110
• Subjects: Engineering.; Artificial intelligence.; Computational intelligence.; Control engineering.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Computational Intelligence.; Control.

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 ref...

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.