Transferring Human Impedance Regulation Skills to Robots - Springer Tracts in Advanced Robotics 110 (Paperback)Arash Ajoudani (author)
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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.
Publisher: Springer International Publishing AG
Number of pages: 167
Weight: 2993 g
Dimensions: 235 x 155 mm
Edition: Softcover reprint of the original 1st ed. 201
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