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Transferring human impedance regulat...
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Transferring human impedance regulation skills to robots
Record Type:
Language materials, printed : Monograph/item
Title/Author:
Transferring human impedance regulation skills to robots/ by Arash Ajoudani.
Author:
Ajoudani, Arash.
Published:
Cham :Springer International Publishing : : 2016.,
Description:
xxiv, 167 p. :ill., digital ; : 24 cm.;
Contained By:
Springer eBooks
Subject:
Engineering. -
Online resource:
http://dx.doi.org/10.1007/978-3-319-24205-7
ISBN:
9783319242057
Transferring human impedance regulation skills to robots
Ajoudani, Arash.
Transferring human impedance regulation skills to robots
[electronic resource] /by Arash Ajoudani. - Cham :Springer International Publishing :2016. - xxiv, 167 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,1101610-7438 ;. - Springer tracts in advanced robotics ;v. 53..
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.
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.
ISBN: 9783319242057
Standard No.: 10.1007/978-3-319-24205-7doiSubjects--Topical Terms:
561152
Engineering.
LC Class. No.: TJ211
Dewey Class. No.: 629.892
Transferring human impedance regulation skills to robots
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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.
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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.
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Engineering (Springer-11647)
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