Transferring Human Impedance Regulation Skills to Robots |
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Author:
| Ajoudani, Arash |
Series title: | Springer Tracts in Advanced Robotics Ser. |
ISBN: | 978-3-319-24203-3 |
Publication Date: | Oct 2015 |
Publisher: | Springer International Publishing AG
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Imprint: | Springer |
Book Format: | Hardback |
List Price: | USD $149.99USD $149.99USD $109.99 |
Book Description:
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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...
More Description
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.