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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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
Keywords
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.
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