Transferring human impedance regulation skills to robots [electronic resource] / Arash Ajoudani.

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Transferring human impedance regulation skills to robots [electronic resource] / Arash Ajoudani.

9783319242057 (electronic book)
3319242059 (electronic book)
3319242032
9783319242033

Cham : Springer, 2016.

English

1 online resource.

10.1007/978-3-319-24205-7 doi

TJ211

629.892

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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Online resource; title from PDF title page (SpringerLink, viewed March 16, 2016).

Springer tracts in advanced robotics ; 110.

Print version: 9783319242033

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