Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors, 1st Edition

  • Published By:
  • ISBN-10: 3319011227
  • ISBN-13: 9783319011226
  • DDC: 629.8
  • Grade Level Range: College Freshman - College Senior
  • 105 Pages | eBook
  • Original Copyright 2014 | Published/Released May 2014
  • This publication's content originally published in print form: 2014

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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

Front Cover.
Other Frontmatter.
Aims and Scope.
Title Page.
Copyright Page.
Other Frontmatter.
Supervisor's Foreword.
1: Increasing Perceptual Skills of Robots Through Proximal FTSs.
2: The Role of Force Perception and Backdrivability in Robot Interaction.
3: Platform.
4: Propagation of Force Measurements Through MBSD.
5: Building EOG for Computing Dynamics and External Wrenches of the iCub Robot.
6: Active Compliance Control.
7: Hardware and Software Architecture.
Improving the Estimate of Proprioceptive Measurements.
About the Author.