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Engineering - Control Engineering | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors - A Study for the

Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot

Series: Springer Theses

Fumagalli, Matteo

2014, XIX, 105 p. 54 illus., 15 illus. in color.

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  • Nominated as outstanding PhD thesis by the University of Genoa, Italy
  • Presents a novel methodology to increase the perceptual capabilities of robotic systems  and to perform interaction control by means of a limited amount of mechanical sensors
  • Opens new directions in autonomous cognitive systems research and interaction control of humanoids robots

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.


Content Level » Research

Keywords » Distributed tactile sensors - Force Perception - Human Robot Interaction - Humanoid robots - Interaction control - Multi-Body System Dynamics - iCub robot

Related subjects » Artificial Intelligence - Control Engineering - Robotics

Table of contents 

Part I Increasing Perceptual Skills of Robots Through Proximal FTSs.-

Improving the Estimate of Proprioceptive Measurements.

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