Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot

Nonfiction, Science & Nature, Technology, Automation, Computers, Advanced Computing, Artificial Intelligence
Cover of the book Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors by Matteo Fumagalli, Springer International Publishing
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Matteo Fumagalli ISBN: 9783319011226
Publisher: Springer International Publishing Publication: August 31, 2013
Imprint: Springer Language: English
Author: Matteo Fumagalli
ISBN: 9783319011226
Publisher: Springer International Publishing
Publication: August 31, 2013
Imprint: Springer
Language: English

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

 

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

 

More books from Springer International Publishing

Cover of the book Cyberpatterns by Matteo Fumagalli
Cover of the book Eva Picardi on Language, Analysis and History by Matteo Fumagalli
Cover of the book New Developments in Statistical Modeling, Inference and Application by Matteo Fumagalli
Cover of the book Edible Wild Plants: An alternative approach to food security by Matteo Fumagalli
Cover of the book Governance and Sustainable Urban Transport in the Americas by Matteo Fumagalli
Cover of the book Bionanocomposites for Packaging Applications by Matteo Fumagalli
Cover of the book Languages after Brexit by Matteo Fumagalli
Cover of the book The Complex Lives of Star Clusters by Matteo Fumagalli
Cover of the book Model Validation and Uncertainty Quantification, Volume 3 by Matteo Fumagalli
Cover of the book Advances in Swarm Intelligence by Matteo Fumagalli
Cover of the book Enlarging the Scope of Peace Psychology by Matteo Fumagalli
Cover of the book Tools for High Performance Computing 2017 by Matteo Fumagalli
Cover of the book Phylogenomics by Matteo Fumagalli
Cover of the book Italian Studies on Quality of Life by Matteo Fumagalli
Cover of the book Malignant Pediatric Bone Tumors - Treatment & Management by Matteo Fumagalli
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy