1 option
Transferring Human Impedance Regulation Skills to Robots / by Arash Ajoudani.
- Format:
- Book
- Author/Creator:
- Ajoudani, Arash, author.
- Series:
- Springer tracts in advanced robotics 1610-7438 ; 110.
- Springer Tracts in Advanced Robotics, 1610-7438 ; 110
- Language:
- English
- Subjects (All):
- Robotics.
- Automation.
- Artificial intelligence.
- Computational intelligence.
- Automatic control.
- Robotics and Automation.
- Artificial Intelligence.
- Computational Intelligence.
- Control and Systems Theory.
- Local Subjects:
- Robotics and Automation.
- Artificial Intelligence.
- Computational Intelligence.
- Control and Systems Theory.
- Physical Description:
- 1 online resource (XXIV, 167 pages 85 illustrations, 76 illustrations in color).
- Edition:
- First edition 2016.
- Contained In:
- Springer Nature eBook
- Place of Publication:
- Cham : Springer International Publishing : Imprint: Springer, 2016.
- System Details:
- text file PDF
- Summary:
- 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.
- 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.
- Other Format:
- Printed edition:
- ISBN:
- 9783319242057
- Access Restriction:
- Restricted for use by site license.
The Penn Libraries is committed to describing library materials using current, accurate, and responsible language. If you discover outdated or inaccurate language, please fill out this feedback form to report it and suggest alternative language.