Whole-Body Impedance Control of Wheeled Humanoid Robots

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...

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Bibliographic Details
Main Author: Dietrich, Alexander (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Cham : Springer International Publishing : 2016.
Imprint: Springer,
Edition:1st ed. 2016.
Series:Springer Tracts in Advanced Robotics, 116
Subjects:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
User interfaces (Computer systems).
Human-computer interaction.
Control, Robotics, Automation.
Artificial Intelligence.
User Interfaces and Human Computer Interaction.
Online Access:Full-text access
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.

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