Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot

Nonfiction, Science & Nature, Technology, Automation, Computers, Advanced Computing, Artificial Intelligence
Cover of the book Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors by Matteo Fumagalli, Springer International Publishing
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Matteo Fumagalli ISBN: 9783319011226
Publisher: Springer International Publishing Publication: August 31, 2013
Imprint: Springer Language: English
Author: Matteo Fumagalli
ISBN: 9783319011226
Publisher: Springer International Publishing
Publication: August 31, 2013
Imprint: Springer
Language: English

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

 

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.

 

More books from Springer International Publishing

Cover of the book Over the Human by Matteo Fumagalli
Cover of the book Reading Fluency by Matteo Fumagalli
Cover of the book Haar Wavelets by Matteo Fumagalli
Cover of the book Air Lasing by Matteo Fumagalli
Cover of the book The Abductive Structure of Scientific Creativity by Matteo Fumagalli
Cover of the book Systems Analysis Approach for Complex Global Challenges by Matteo Fumagalli
Cover of the book Privacy and Identity Management for the Future Internet in the Age of Globalisation by Matteo Fumagalli
Cover of the book Using Imperfect Semiconductor Systems for Unique Identification by Matteo Fumagalli
Cover of the book Sanskrit Astronomical Tables by Matteo Fumagalli
Cover of the book Energy-Efficient VCSELs for Optical Interconnects by Matteo Fumagalli
Cover of the book Model-Driven Engineering and Software Development by Matteo Fumagalli
Cover of the book Effective Evolution Equations from Quantum Dynamics by Matteo Fumagalli
Cover of the book The Social Bond by Matteo Fumagalli
Cover of the book Cybernetics, Warfare and Discourse by Matteo Fumagalli
Cover of the book Yabar by Matteo Fumagalli
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy