Transferring Human Impedance Regulation Skills to Robots

Nonfiction, Science & Nature, Technology, Robotics, Computers, Advanced Computing, Artificial Intelligence
Cover of the book Transferring Human Impedance Regulation Skills to Robots by Arash Ajoudani, Springer International Publishing
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Author: Arash Ajoudani ISBN: 9783319242057
Publisher: Springer International Publishing Publication: November 5, 2015
Imprint: Springer Language: English
Author: Arash Ajoudani
ISBN: 9783319242057
Publisher: Springer International Publishing
Publication: November 5, 2015
Imprint: Springer
Language: English

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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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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