Whole-Body Impedance Control of Wheeled Humanoid Robots

• Main Author: Dietrich, Alexander (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, 116
• Subjects: Engineering.; User interfaces (Computer systems).; Artificial intelligence.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; User Interfaces and Human Computer Interaction.

Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid rob...

Table of Contents:

• Introduction.-Fundamentals
• Control Tasks Based on Artificial Potential Fields
• Redundancy Resolution by Null Space Projections
• Stability Analysis
• Whole-Body Coordination
• Integration of the Whole-Body Controller into a Higher-Level Framework
• Summary.