Transferring Human Impedance Regulation Skills to Robots

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 ref...

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Bibliographic Details
Main Author: Ajoudani, Arash (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, 110
Subjects:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Computational intelligence.
Control, Robotics, Automation.
Artificial Intelligence.
Computational Intelligence.
Control and Systems Theory.
Online Access:Full-text access
Description
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.
Physical Description:XXIV, 167 p. 85 illus., 76 illus. in color. online resource.
ISBN:9783319242057
ISSN:1610-742X ;
DOI:10.1007/978-3-319-24205-7

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