Transferring Human Impedance Regulation Skills to Robots

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.

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 Shows how 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 Includes supplementary material: sn.pub/extras

Contenu

Introduction.-

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. <p