Transferring Human Impedance Regulation Skills to Robots

Transferring Human Impedance Regulation Skills to Robots
Author :
Publisher : Springer
Total Pages : 180
Release :
ISBN-10 : 9783319242057
ISBN-13 : 3319242059
Rating : 4/5 (059 Downloads)

Book Synopsis Transferring Human Impedance Regulation Skills to Robots by : Arash Ajoudani

Download or read book Transferring Human Impedance Regulation Skills to Robots written by Arash Ajoudani and published by Springer. This book was released on 2015-11-05 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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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