Springer Tracts in Advanced Robotics

Ajoudani, Arash

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.

Details

Published by: Springer

Publication Date: 2015-10-16

Format: Hardcover

ISBN-13: 9783319242033

DOI: 10.1007/978-3-319-24205-7

Dimensions: 235cm x155cm

Pages: 167