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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.
Description:	XXIV, 167 p. 85 illus., 76 illus. in color.online resource. :
Contained By:	Springer Nature eBook
Subject:	Robotics. -
Online resource:	https://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. - 1st ed. 2016. - XXIV, 167 p. 85 illus., 76 illus. in color.online resource. - Springer Tracts in Advanced Robotics,1101610-7438 ;. - Springer Tracts in Advanced Robotics,105.

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:

561941
Robotics.

LC Class. No.: TJ210.2-211.495

Dewey Class. No.: 629.892

Transferring Human Impedance Regulation Skills to Robots
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