[PDF] Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors Free Download

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      • [PDF] Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors Free Download by Matteo Fumagalli | Publisher : Springer | Category : Science | Tags : Sensors, Information, Platform, Dynamics, Hardware, Software | ISBN-10 : 3319011219 | ISBN-13 : 9783319011219
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      • Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors by Matteo Fumagalli, Publisher : Springer
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      • Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors: A Study for the Implementation of Active Compliance on the iCub Humanoid Robot (Springer Theses)

        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.

        Table of Contents

        Chapter 1 The Role of Force Perception and Backdrivability in Robot Interaction
        Chapter 2 Platform
        Chapter 3 Propagation of Force Measurements Through MBSD
        Chapter 4 Building EOG for Computing Dynamics and External Wrenches of the iCub Robot
        Chapter 5 Active Compliance Control
        Chapter 6 Hardware and Software Architecture

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      • Book Name : Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

        Edition : 2014

        Author : Matteo Fumagalli

        Publisher : Springer

        Category : Science

        ISBN-10 : 3319011219

        ISBN-13 : 9783319011219

        ASIN : 3319011219

        Pages : 160

        Language : English

        Publish Date : September 10, 2013
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