000			02859nam a22004935i 4500
001			978-3-319-01122-6
003			DE-He213
005			20200421112546.0
007			cr nn 008mamaa
008			130831s2014 gw | s |||| 0|eng d
020			_a9783319011226 _9978-3-319-01122-6
024	7		_a10.1007/978-3-319-01122-6 _2doi
050		4	_aTJ212-225
072		7	_aTJFM _2bicssc
072		7	_aTEC004000 _2bisacsh
082	0	4	_a629.8 _223
100	1		_aFumagalli, Matteo. _eauthor.
245	1	0	_aIncreasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors _h[electronic resource] : _bA Study for the Implementation of Active Compliance on the iCub Humanoid Robot / _cby Matteo Fumagalli.
264		1	_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2014.
300			_aXIX, 105 p. 54 illus., 15 illus. in color. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
490	1		_aSpringer Theses, Recognizing Outstanding Ph.D. Research, _x2190-5053
520			_aThis 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.  .
650		0	_aEngineering.
650		0	_aArtificial intelligence.
650		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aAutomation.
650	1	4	_aEngineering.
650	2	4	_aControl.
650	2	4	_aArtificial Intelligence (incl. Robotics).
650	2	4	_aRobotics and Automation.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9783319011219
830		0	_aSpringer Theses, Recognizing Outstanding Ph.D. Research, _x2190-5053
856	4	0	_uhttp://dx.doi.org/10.1007/978-3-319-01122-6
912			_aZDB-2-ENG
942			_cEBK
999			_c58545 _d58545