Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors: A Study for the Implementation of Active Compliance on the iCub Humanoid Robot
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
2014
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| Schriftenreihe: | Springer Theses, Recognizing Outstanding Ph.D. Research
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| Schlagworte: | |
| Online-Zugang: | BTU01 FHA01 FHI01 FHN01 FHR01 FKE01 FRO01 FWS01 FWS02 UBY01 Volltext Abstract |
| Beschreibung: | 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. |
| Beschreibung: | 1 Online-Ressource (XIX, 105 p.) 54 illus., 15 illus. in color |
| ISBN: | 9783319011226 |
| DOI: | 10.1007/978-3-319-01122-6 |
Internformat
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Datensatz im Suchindex
| DE-BY-FWS_katkey | 1015684 |
|---|---|
| _version_ | 1806174832636723200 |
| adam_text | INCREASING PERCEPTUAL SKILLS OF ROBOTS THROUGH PROXIMAL FORCE/TORQUE
SENSORS
/ FUMAGALLI, MATTEO
: 2014
ABSTRACT / INHALTSTEXT
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.
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Fumagalli, Matteo |
| author_facet | Fumagalli, Matteo |
| author_role | aut |
| author_sort | Fumagalli, Matteo |
| author_variant | m f mf |
| building | Verbundindex |
| bvnumber | BV041470933 |
| collection | ZDB-2-ENG |
| ctrlnum | (OCoLC)891514282 (DE-599)BVBBV041470933 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-3-319-01122-6 |
| format | Electronic eBook |
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| institution | BVB |
| isbn | 9783319011226 |
| language | English |
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| physical | 1 Online-Ressource (XIX, 105 p.) 54 illus., 15 illus. in color |
| psigel | ZDB-2-ENG |
| publishDate | 2014 |
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| publishDateSort | 2014 |
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| series2 | Springer Theses, Recognizing Outstanding Ph.D. Research |
| spellingShingle | Fumagalli, Matteo Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot Engineering Artificial intelligence Control Artificial Intelligence (incl. Robotics) Robotics and Automation Ingenieurwissenschaften Künstliche Intelligenz |
| title | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot |
| title_auth | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot |
| title_exact_search | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot |
| title_full | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot by Matteo Fumagalli |
| title_fullStr | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot by Matteo Fumagalli |
| title_full_unstemmed | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors A Study for the Implementation of Active Compliance on the iCub Humanoid Robot by Matteo Fumagalli |
| title_short | Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors |
| title_sort | increasing perceptual skills of robots through proximal force torque sensors a study for the implementation of active compliance on the icub humanoid robot |
| title_sub | A Study for the Implementation of Active Compliance on the iCub Humanoid Robot |
| topic | Engineering Artificial intelligence Control Artificial Intelligence (incl. Robotics) Robotics and Automation Ingenieurwissenschaften Künstliche Intelligenz |
| topic_facet | Engineering Artificial intelligence Control Artificial Intelligence (incl. Robotics) Robotics and Automation Ingenieurwissenschaften Künstliche Intelligenz |
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