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Transferring Human Impedance Regulation Skills to Robots

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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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Series Title

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Call Number

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Publisher

: Springer Cham., 2016

Collation

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Language

English

ISBN/ISSN

978-3-319-24205-7

Classification

NONE

Content Type

text

Media Type

computer

Carrier Type

online resource

Edition

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Subject(s)

Computational Intelligence
Control and Systems Theory
, Artificial Intelligence
Robotics and Automation

Specific Detail Info

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Statement of Responsibility

Arash Ajoudani

Other Information

Cataloger

Yudi

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