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Whole-Body Impedance Control of Wheeled Humanoid Robots (Paperback, Softcover reprint of the original 1st ed. 2016)
Loot Price: R3,322
Discovery Miles 33 220
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Whole-Body Impedance Control of Wheeled Humanoid Robots (Paperback, Softcover reprint of the original 1st ed. 2016)
Series: Springer Tracts in Advanced Robotics, 116
Expected to ship within 10 - 15 working days
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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.
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