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Transferring human impedance regulat...

Ajoudani, Arash.

Transferring human impedance regulation skills to robots

Record Type:	Electronic resources : Monograph/item
Title/Author:	Transferring human impedance regulation skills to robotsby Arash Ajoudani.
Author:	Ajoudani, Arash.
Published:	Cham :Springer International Publishing :2016.
Description:	xxiv, 167 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
Subject:	Engineering.
Online resource:	http://dx.doi.org/10.1007/978-3-319-24205-7
ISBN:	9783319242057$q(electronic bk.)

Transferring human impedance regulation skills to robots
Ajoudani, Arash.

Transferring human impedance regulation skills to robots[electronic resource] /by Arash Ajoudani. - Cham :Springer International Publishing :2016. - xxiv, 167 p. :ill., digital ;24 cm. - Springer tracts in advanced robotics,1101610-7438 ;. - Springer tracts in advanced robotics ;v. 13.

Introduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton.

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.

ISBN: 9783319242057$q(electronic bk.)

Standard No.: 10.1007/978-3-319-24205-7doiSubjects--Topical Terms:

210888
Engineering.

LC Class. No.: TJ211

Dewey Class. No.: 629.892

Transferring human impedance regulation skills to robots
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100 1 $a Ajoudani, Arash. $3 737779
245 1 0 $a Transferring human impedance regulation skills to robots $h [electronic resource] / $c by Arash Ajoudani.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2016.
300 $a xxiv, 167 p. : $b ill., digital ; $c 24 cm.
490 1 $a Springer tracts in advanced robotics, $x 1610-7438 ; $v 110
505 0 $a Introduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton.
520 $a 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.
650 0 $a Engineering. $3 210888
650 0 $a Artificial intelligence. $3 194058
650 0 $a Computational intelligence. $3 210824
650 0 $a Automatic control. $3 182078
650 0 $a Robotics. $3 181952
650 0 $a Automation. $3 190451
650 2 4 $a Robotics and Automation. $3 357111
650 2 4 $a Artificial Intelligence (incl. Robotics) $3 252959
650 2 4 $a Computational Intelligence. $3 338479
650 2 4 $a Control. $3 349080
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830 0 $a Springer tracts in advanced robotics ; $v v. 13 $3 452791
856 4 0 $u http://dx.doi.org/10.1007/978-3-319-24205-7
950 $a Engineering (Springer-11647)