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Transferring human impedance regulat...

Ajoudani, Arash.

Transferring human impedance regulation skills to robots

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Transferring human impedance regulation skills to robotsby Arash Ajoudani.
作者:	Ajoudani, Arash.
出版者:	Cham :Springer International Publishing :2016.
面頁冊數:	xxiv, 167 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
標題:	Engineering.
電子資源:	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

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