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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...
Main Author: | |
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Corporate Author: | |
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: | |
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.