Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot /

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...

Descripción completa

Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Fumagalli, Matteo (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Cham : Springer International Publishing : Imprint: Springer, 2014.
Edición:1st ed. 2014.
Colección:Springer Theses, Recognizing Outstanding Ph.D. Research,
Temas:
Control engineering.
Artificial intelligence.
Robotics.
Automation.
Control and Systems Theory.
Artificial Intelligence.
Control, Robotics, Automation.
Acceso en línea:Texto Completo

MARC

LEADER 00000nam a22000005i 4500
001 978-3-319-01122-6
003 DE-He213
005 20220116184459.0
007 cr nn 008mamaa
008 130831s2014 sz | s |||| 0|eng d
020 |a 9783319011226  |9 978-3-319-01122-6 
024 7 |a 10.1007/978-3-319-01122-6  |2 doi 
050 4 |a TJ212-225 
072 7 |a TJFM  |2 bicssc 
072 7 |a GPFC  |2 bicssc 
072 7 |a TEC004000  |2 bisacsh 
072 7 |a TJFM  |2 thema 
082 0 4 |a 629.8312  |2 23 
082 0 4 |a 003  |2 23 
100 1 |a Fumagalli, Matteo.  |e author.  |4 aut  |4 http://id.loc.gov/vocabulary/relators/aut 
245 1 0 |a Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors  |h [electronic resource] :  |b A Study for the Implementation of Active Compliance on the iCub Humanoid Robot /  |c by Matteo Fumagalli. 
250 |a 1st ed. 2014. 
264 1 |a Cham :  |b Springer International Publishing :  |b Imprint: Springer,  |c 2014. 
300 |a XIX, 105 p. 54 illus., 15 illus. in color.  |b online resource. 
336 |a text  |b txt  |2 rdacontent 
337 |a computer  |b c  |2 rdamedia 
338 |a online resource  |b cr  |2 rdacarrier 
347 |a text file  |b PDF  |2 rda 
490 1 |a Springer Theses, Recognizing Outstanding Ph.D. Research,  |x 2190-5061 
520 |a 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.  . 
650 0 |a Control engineering. 
650 0 |a Artificial intelligence. 
650 0 |a Robotics. 
650 0 |a Automation. 
650 1 4 |a Control and Systems Theory. 
650 2 4 |a Artificial Intelligence. 
650 2 4 |a Control, Robotics, Automation. 
710 2 |a SpringerLink (Online service) 
773 0 |t Springer Nature eBook 
776 0 8 |i Printed edition:  |z 9783319011233 
776 0 8 |i Printed edition:  |z 9783319011219 
776 0 8 |i Printed edition:  |z 9783319375731 
830 0 |a Springer Theses, Recognizing Outstanding Ph.D. Research,  |x 2190-5061 
856 4 0 |u https://doi.uam.elogim.com/10.1007/978-3-319-01122-6  |z Texto Completo 
912 |a ZDB-2-ENG 
912 |a ZDB-2-SXE 
950 |a Engineering (SpringerNature-11647) 
950 |a Engineering (R0) (SpringerNature-43712) 

Ejemplares similares