000 02798nam a22005535i 4500
001 978-3-319-24205-7
003 DE-He213
005 20200421112554.0
007 cr nn 008mamaa
008 151007s2016 gw | s |||| 0|eng d
020 _a9783319242057
_9978-3-319-24205-7
024 7 _a10.1007/978-3-319-24205-7
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aAjoudani, Arash.
_eauthor.
245 1 0 _aTransferring Human Impedance Regulation Skills to Robots
_h[electronic resource] /
_cby Arash Ajoudani.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2016.
300 _aXXIV, 167 p. 85 illus., 76 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 Tracts in Advanced Robotics,
_x1610-7438 ;
_v110
505 0 _aIntroduction -- On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots -- Teleimpedance Control of a Robotic Arm -- Human-like Impedance Control of a Dual-Arm Manipulator -- Teleimpedance Control of a Robotic Hand -- Teleimpedance Control of a Compliant Knee Exoskeleton.
520 _aThis 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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aComputational intelligence.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aComputational Intelligence.
650 2 4 _aControl.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319242033
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v110
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-24205-7
912 _aZDB-2-ENG
942 _cEBK
999 _c59006
_d59006