Transferring Human Impedance Regulation Skills to Robots

by Arash Ajoudani

Overview

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.

Product Details

ISBN-13:	9783319242033
Publisher:	Springer International Publishing
Publication date:	10/09/2015
Series:	Springer Tracts in Advanced Robotics , #110
Edition description:	1st ed. 2016
Pages:	167
Product dimensions:	6.10(w) x 9.25(h) x (d)

Table of Contents

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.