Overview
- Nominated as an outstanding PhD thesis by the University of Genoa, Italy
- Presents a novel methodology to increase the perceptual capabilities of robotic systems and to perform interaction control by means of a limited amount of mechanical sensors
- Opens new directions in autonomous cognitive systems research and interaction control of humanoids robots
Part of the book series: Springer Theses (Springer Theses)
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Table of contents (6 chapters)
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Front Matter
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Increasing Perceptual Skills of Robots Through Proximal FTSs
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Front Matter
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Back Matter
Keywords
About this book
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.
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Authors and Affiliations
Bibliographic Information
Book Title: Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors
Book Subtitle: A Study for the Implementation of Active Compliance on the iCub Humanoid Robot
Authors: Matteo Fumagalli
Series Title: Springer Theses
DOI: https://doi.org/10.1007/978-3-319-01122-6
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Hardcover ISBN: 978-3-319-01121-9Published: 10 September 2013
Softcover ISBN: 978-3-319-37573-1Published: 23 August 2016
eBook ISBN: 978-3-319-01122-6Published: 31 August 2013
Series ISSN: 2190-5053
Series E-ISSN: 2190-5061
Edition Number: 1
Number of Pages: XIX, 105
Number of Illustrations: 39 b/w illustrations, 15 illustrations in colour
Topics: Control and Systems Theory, Artificial Intelligence, Robotics and Automation
Industry Sectors: Aerospace, Automotive, Chemical Manufacturing, Electronics, Engineering, IT & Software, Materials & Steel, Oil, Gas & Geosciences, Telecommunications