Download E-books Transferring Human Impedance Regulation Skills to Robots PDF

By Arash Ajoudani

This booklet introduces novel considering and methods to the keep watch over of robot manipulation. specifically, the idea that of teleimpedance regulate as a substitute approach to bilateral force-reflecting teleoperation keep an eye on for robot manipulation is brought. In teleimpedance keep watch over, a compound reference command is distributed to the slave robotic together with either the specified movement trajectory and impedance profile, that are then discovered via the distant controller. this idea varieties a foundation for the improvement of the controllers for a robot arm, a dual-arm setup, a synergy-driven robot hand, and a compliant exoskeleton for better interplay performance.

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