Springer Theses

Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

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

Authors: Fumagalli, Matteo

  • Nominated as an 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
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  • ISBN 978-3-319-01122-6
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Hardcover $129.00
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  • ISBN 978-3-319-01121-9
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  • Usually dispatched within 3 to 5 business days.
Softcover $129.00
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  • ISBN 978-3-319-37573-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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About this book

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.

 

Table of contents (6 chapters)

  • The Role of Force Perception and Backdrivability in Robot Interaction

    Fumagalli, Matteo

    Pages 3-12

  • Platform

    Fumagalli, Matteo

    Pages 13-25

  • Propagation of Force Measurements Through MBSD

    Fumagalli, Matteo

    Pages 27-45

  • Building EOG for Computing Dynamics and External Wrenches of the iCub Robot

    Fumagalli, Matteo

    Pages 47-65

  • Active Compliance Control

    Fumagalli, Matteo

    Pages 67-84

Buy this book

eBook $99.00
price for USA (gross)
  • ISBN 978-3-319-01122-6
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $129.00
price for USA
  • ISBN 978-3-319-01121-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $129.00
price for USA
  • ISBN 978-3-319-37573-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors
Book Subtitle
A Study for the Implementation of Active Compliance on the iCub Humanoid Robot
Authors
Series Title
Springer Theses
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-01122-6
DOI
10.1007/978-3-319-01122-6
Hardcover ISBN
978-3-319-01121-9
Softcover ISBN
978-3-319-37573-1
Series ISSN
2190-5053
Edition Number
1
Number of Pages
XIX, 105
Number of Illustrations and Tables
39 b/w illustrations, 15 illustrations in colour
Topics