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  • Ký hiệu PL/XG: 629.892 A374
    Nhan đề: Whole-body impedance control of wheeled humanoid robots /
ISBN 9783319405568
DDC 629.892
Tác giả CN Alexander, Dietrich
Nhan đề Whole-body impedance control of wheeled humanoid robots / Alexander Dietrich
Thông tin xuất bản Switzerland : Springer, 2016.
Mô tả vật lý xv, 187 pages. : color illustrations ; 24 cm.
Tùng thư Springer tracts in advanced robotics, 116.
Tóm tắt 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.
Thuật ngữ chủ đề Artificial intelligence
Thuật ngữ chủ đề Robotics
Thuật ngữ chủ đề Robots-Control
Thuật ngữ chủ đề Robots-Kinematics
Từ khóa tự do Engineering
Từ khóa tự do Automation
Khoa Khoa Cơ khí - Điện - Điện tử - Ô tô
Địa chỉ 300Q12_Kho Mượn_02(1): 073810
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041 |aeng
044 |asz
082 |a629.892|bA374|223
100 |aAlexander, Dietrich
245 |aWhole-body impedance control of wheeled humanoid robots / |cAlexander Dietrich
260 |aSwitzerland : |bSpringer, |c2016.
300 |axv, 187 pages. : |bcolor illustrations ; |c24 cm.
490 |aSpringer tracts in advanced robotics, 116.
504 |aIncludes bibliographical references (pages 177-187)
520 |aIntroducing 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.
541 |aDự án VN Book Drive
650 |aArtificial intelligence
650 |aRobotics
650 |aRobots|xControl
650 |aRobots|xKinematics
653 |aEngineering
653 |aAutomation
690 |aKhoa Cơ khí - Điện - Điện tử - Ô tô
852|a300|bQ12_Kho Mượn_02|j(1): 073810
8561|uhttp://elib.ntt.edu.vn/documentdata01/2 tailieuthamkhao/600 congnghe/anhbiasach/25376_whole-body impedance control of wheeledthumbimage.jpg
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