[PDF] Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics)

ISBN: 331940556X

Category: Tutorial


Posted on 2017-10-28, by luongquocchinh.

Description



Author: Alexander Dietrich | Publisher: Springer | Category: Electrical Engineering | Language: English | Page: 187 | ISBN: 331940556X | ISBN13: 9783319405568 |

Description: Authors: Dietrich, Alexander Focuses on the skills for soft contact interactions Investigates the concept of hierarchy-based control thoroughly, and extends the classical state-of-the-art method for the task prioritization by new features such as dynamic task hierarchies and the treatment of conflicting objectives All algorithms reported are experimentally validated on a mobile humanoid robot Gives an outlook to the prospective use of the proposed controller as an essential component in an integrated framework Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments. Number of Illustrations and Tables 11 b/w illustrations, 71 illustrations in colour Topics Robotics and Automation Artificial Intelligence (incl. Robotics) User Interfaces and Human Computer Interaction

DOWNLOADDownload this book
Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics).pdf
http://filejoker.net/f8017rdb6utq

Sponsored High Speed Downloads
9904 dl's @ 2751 KB/s
Download Now [Full Version]
9913 dl's @ 2055 KB/s
Download Link 1 - Fast Download
6698 dl's @ 2745 KB/s
Download Mirror - Direct Download



Search More...
[PDF] Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics)

Search free ebooks in ebookee.com!


Links
Download this book

No active download links here?
Please check the description for download links if any or do a search to find alternative books.


Related Books

  1. Ebooks list page : 32854
  2. 2017-10-14[PDF] Control of Single Wheel Robots (Springer Tracts in Advanced Robotics)
  3. 2011-07-30Control of Single Wheel Robots (Springer Tracts in Advanced Robotics)
  4. 2011-07-30Control of Single Wheel Robots (Springer Tracts in Advanced Robotics)
  5. 2018-01-23[PDF] Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics)
  6. 2017-12-14[PDF] Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tracts in Advanced Robotics)
  7. 2017-12-25[PDF] Self-Organizing Robots (Springer Tracts in Advanced Robotics)
  8. 2017-11-15[PDF] Structure from Motion using the Extended Kalman Filter (Springer Tracts in Advanced Robotics)
  9. 2017-10-17[PDF] Semantic Labeling of Places with Mobile Robots (Springer Tracts in Advanced Robotics)
  10. 2017-04-05[PDF] Human-Robot Interaction Strategies for Walker-Assisted Locomotion (Springer Tracts in Advanced Robotics)
  11. 2012-02-07Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tracts in Advanced Robotics) - Peter Corke
  12. 2012-01-01Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tracts in Advanced Robotics)
  13. 2011-07-30Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics)
  14. 2011-07-30Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics)
  15. 2018-01-18[PDF] Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics)
  16. 2017-11-01[PDF] Cells and Robots: Modeling and Control of Large-Size Agent Populations (Springer Tracts in Advanced Robotics)
  17. 2017-10-17[PDF] Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics, 2004)
  18. 2018-01-15[PDF] Towards Service Robots for Everyday Environments: Recent Advances in Designing Service Robots for Complex Tasks in Everyday Environments (Springer Tracts in Advanced Robotics)
  19. 2018-01-03[PDF] Field and Service Robotics: Results of the 8th International Conference (Springer Tracts in Advanced Robotics)
  20. 2017-12-31[PDF] Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM (Springer Tracts in Advanced Robotics)

Comments

No comments for "[PDF] Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics)".


    Add Your Comments
    1. Download links and password may be in the description section, read description carefully!
    2. Do a search to find mirrors if no download links or dead links.

    required

    required, will not be published

    need login

    required

    Not clear? Click here to refresh.

    Back to Top