Titlebook: Whole-Body Impedance Control of Wheeled Humanoid Robots; Alexander Dietrich Book 2016 Springer International Publishing Switzerland 2016 S

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Book 2016ch, the formal proof of asymptotic stability for this hierarchical controller is presented.By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, su

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Fundamentals, comprises fundamentals in kinematics and dynamics (Sect.?.), active control for compliant interaction behavior (Sect.?.), and details on the hardware and modeling assumption on the wheeled humanoid robot Rollin’ Justin, which has been chosen as the platform for the experimental validations (Sect.?.

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Control Tasks Based on Artificial Potential Fields, and orientation in space, for example, requires six DOF. If there are more DOF available, this remaining kinematic redundancy can be used to pursue further important objectives such as collision avoidance, observation of the environment, or pose optimization for increased energy efficiency.

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