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

Alexander Dietrich




[PDF.cn82] Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics)

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 | #6665585 in Books |  2016-07-03 | Original language:English | PDF # 1 |  9.21 x.50 x6.14l,.0 | File type: PDF | 187 pages

||From the Back Cover||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 manipu

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 a...

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