Overview
- 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
- Shows how 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
- Includes supplementary material: sn.pub/extras
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 110)
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About this book
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.
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Keywords
Table of contents (11 chapters)
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Front Matter
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Teleimpedance Control of a Robotic Arm
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Front Matter
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Human-like Impedance Control of a Dual-Arm Manipulator
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Front Matter
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Teleimpedance Control of a Robotic Hand
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Front Matter
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Teleimpedance Control of a Compliant Knee Exoskeleton
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Front Matter
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Back Matter
Authors and Affiliations
Bibliographic Information
Book Title: Transferring Human Impedance Regulation Skills to Robots
Authors: Arash Ajoudani
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-24205-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2016
Hardcover ISBN: 978-3-319-24203-3Published: 16 October 2015
Softcover ISBN: 978-3-319-37028-6Published: 23 August 2016
eBook ISBN: 978-3-319-24205-7Published: 05 November 2015
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXIV, 167
Number of Illustrations: 9 b/w illustrations, 76 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Computational Intelligence, Control and Systems Theory