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Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

ST: INCRSNG PRCPTL SKLLS ROBOTS PROXIMAL FRC TRQ SNSRS

Information Technology

Computing & Information Technology

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Marketing Imprint Name

B2B GT

CL Carton Count

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B2B & B2C

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. 

POST SECONDARY FOUR YEAR

COLFR

COLJR

COLSO

COLSR

Duration

Duration Unit Of Measure

Transaction Type

Front Cover.
Other Frontmatter.
Aims and Scope.
Title Page.
Copyright Page.
Other Frontmatter.
Dedication.
Supervisor&#x0027;s Foreword.
Preface.
Acknowledgments.
Contents.
Acronyms.
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.
Conclusions.

Increasing Perceptual Skills of Robots Through Proximal Force/​Torque Sensors.css-1p8rvzy{position:absolute;padding-left:8px;}

Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors