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商品詳細
Transferring Human Impedance Regulation Skills to Robots. Softcover reprint of the original 1st ed. 2016
・ISBN 978-3-319-37028-6 paper EUR 99.99
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| 著者・編者 | Ajoudani, Arash, |
|---|---|
| シリーズ | (Springer Tracts in Advanced Robotics) |
| 出版社 | (Springer International Publishing AG, SZ) |
| 出版年月 | 2016 |
| ページ数 | 167 pp. |
| 言語 | ENG |
| ニュース番号 | ＜A02-87193＞ |
解説
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.