96,40 €
Versandkostenfrei per Post / DHL
Lieferzeit 2-4 Werktage
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 [...] 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.
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 [...] 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.
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
Includes supplementary material: [...]
| Erscheinungsjahr: | 2018 |
|---|---|
| Fachbereich: | Nachrichtentechnik |
| Genre: | Mathematik, Medizin, Naturwissenschaften, Technik |
| Rubrik: | Naturwissenschaften & Technik |
| Medium: | Taschenbuch |
| Inhalt: |
xv
187 S. 11 s/w Illustr. 71 farbige Illustr. 187 p. 82 illus. 71 illus. in color. |
| ISBN-13: | 9783319821290 |
| ISBN-10: | 3319821296 |
| Sprache: | Englisch |
| Einband: | Kartoniert / Broschiert |
| Autor: | Dietrich, Alexander |
| Auflage: | Softcover reprint of the original 1st edition 2016 |
| Hersteller: |
Springer Nature Switzerland
Springer International Publishing |
| Verantwortliche Person für die EU: | Springer Verlag GmbH, Tiergartenstr. 17, D-69121 Heidelberg, juergen.hartmann@springer.com |
| Maße: | 235 x 155 x 12 mm |
| Von/Mit: | Alexander Dietrich |
| Erscheinungsdatum: | 30.05.2018 |
| Gewicht: | 0,318 kg |
Ähnliche Produkte
Lieferzeit 1-2 Wochen
Lieferzeit 1-2 Wochen
Lieferzeit 1-2 Wochen
Lieferzeit 4-7 Werktage
Lieferzeit 1-2 Wochen
Lieferzeit 2-4 Werktage
Lieferzeit 4-7 Werktage