Whole-Body Impedance Control of Wheeled Humanoid Robots

• Κύριος συγγραφέας: Dietrich, Alexander (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, 116
• Θέματα: 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...

Πίνακας περιεχομένων:

• 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.