Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors [electronic resource] : A Study for the Implementation of Active Compliance on the iCub Humanoid Robot /
Fumagalli, Matteo.author.
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.  .
""Supervisorâ€?s Foreword""; ""Preface""; ""Acknowledgments""; ""Contents""; ""Acronyms""; ""Part I Increasing Perceptual Skills of Robots Through Proximal FTSs""; ""1 The Role of Force Perception  and Backdrivability in Robot Interaction""; ""1.1 State of the Art on Physical Human Robot Interaction: Mechanical Solutions""; ""1.1.1 Mechanical Solutions""; ""1.2 Measurements of the Interaction and Control""; ""1.2.1 Joint Torque Sensing""; ""1.2.2 Force Measurements""; ""1.3 Significance of the Thesis""; ""References""; ""2 Platform""; ""2.1 The iCub Platform""
""2.1.1 Overview of the iCub Robot""""2.1.2 Electronics and Sensors""; ""2.2 The iCub Software""; ""2.2.1 Overview of the Hardware Components""; ""2.2.2 The Yarp Framework""; ""2.2.3 The iCub Interface""; ""References""; ""3 Propagation of Force Measurements  Through MBSD""; ""3.1 Introduction to Rigid Body Dynamics""; ""3.1.1 Kinematics of the Rigid Body""; ""3.1.2 Dynamics of the Rigid Body""; ""3.2 Dynamics of Serial Mechanisms""; ""3.2.1 Notation""; ""3.2.2 Kinematic Description: The Denavit-Hartenberg Notation""; ""3.2.3 Dynamic Description: The RNEA""
""3.3 Dynamics of Multiple Branched Mechanisms: A Graph Formulation""""3.3.1 The Enhanced Graph Representation""; ""3.3.2 Kinematics""; ""3.3.3 Dynamics""; ""3.4 Exploiting the RNEA for EOG""; ""3.4.1 Kinematics""; ""3.4.2 Dynamics""; ""References""; ""4 Building EOG for Computing Dynamics  and External Wrenches of the iCub Robot""; ""4.1 Summary of the EOG Definition on Robotic Structure:  Case Studies""; ""4.2 Performing the Computation""; ""4.2.1 Single-branched Open Chain""; ""4.2.2 Multiple-branched Nodes and External Forces""; ""4.2.3 Virtual Joint Torque Sensors""
""4.3 A Case Study: iCub Dynamics""""4.3.1 Sensors""; ""4.3.2 Experiments""; ""References""; ""5 Active Compliance Control""; ""5.1 Dynamics of Coupled Mechanism""; ""5.1.1 Dynamic of Motors and Links""; ""5.1.2 Kineto-Static Equation of the Transmission""; ""5.1.3 Dynamics""; ""5.2 Control""; ""5.2.1 Position Control""; ""5.2.2 Torque Control""; ""5.2.3 Impedance Control: Classical""; ""5.2.4 Impedance Control: The Role of Integral""; ""5.2.5 Considerations""; ""5.3 A Case Study: The iCub Arm""; ""References""; ""6 Hardware and Software Architecture""; ""6.1 YARP""; ""6.2 iCub""
""6.2.1 The iCub Hardware Architecture""""6.2.2 The iCub Software Architecture""; ""6.3 Force Control""; ""6.3.1 Contact Detection""; ""6.3.2 Providing Virtual Torque Measurements""; ""References""; ""A Improving the Estimate of Proprioceptive Measurements""; "" About the Author""; "" Conclusions""
Doctoral Thesis accepted by the University of Genoa, Italy.
Includes bibliographical references.
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.  .
Ph.D.
Control engineering.
Artificial intelligence.
Robotics.
Automation.
Control and Systems Theory.
Artificial Intelligence.
Robotics and Automation.

Springer Theses