| 书目名称 | Whole-Body Impedance Control of Wheeled Humanoid Robots |
| 编辑 | Alexander Dietrich |
| 视频video | |
| 概述 | 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 |
| 丛书名称 | Springer Tracts in Advanced Robotics |
| 图书封面 |  |
| 描述 | .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, su |
| 出版日期 | Book 2016 |
| 关键词 | Soft Contact Interactions; Whole-Body Control; Dynamic Task Hierarchies; Task Prioritization; Stability |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-40557-5 |
| isbn_softcover | 978-3-319-82129-0 |
| isbn_ebook | 978-3-319-40557-5Series ISSN 1610-7438 Series E-ISSN 1610-742X |
| issn_series | 1610-7438 |
| copyright | Springer International Publishing Switzerland 2016 |
发表于 2025-3-21 18:14:06
