A Hierarchical Framework for Physical Human-Robot Interaction

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Bibliographic data

Copyright year: 2022
ISBN-Online: 978-3-95900-762-7
Publisher: TEWISS, Garbsen
Series: Berichte aus dem imes
Language: German
Pages: 122
Product type: Book Titles

ChapterPages

1. Vorwort No access
2. Kurzfassung No access
3. Abstract No access
4. Contents No access
5. Nomenclature No access
1. 1.1 Related work No access
2. 1.2 Problem statement No access
3. 1.3 Concept of hierarchical constraints/tasks framework No access
4. 1.4 Contributions and overview No access
1. 2.1 Impedance control No access
2. 2.2 Task hierarchy based on null-space projectors No access
3. 2.3 Task hierarchy based on Quadratic Programming (QP) No access
4. 2.4 Mixed task hierarchy No access
5. 2.5 Discussion No access
1. 3.1 Potential field approach No access
2. 3.2 Potential field approach with variable field force No access
3. 3.3 Saturation in Joint Space method - SJS No access
4. 3.4 Experiments and results No access
5. 3.5 Discussion No access
1. 4.1 Generalization of unilateral constraints No access
2. 4.2 Inclusion of unilateral constraints in the task hierarchy based onnull-space projectors No access
3. 4.3 Inclusion of unilateral constraints in the task hierarchy based onQuadratic Programming No access
4. 4.4 Obstacle avoidance No access
5. 4.5 Limitation for rotational coordinates No access
6. 4.6 Simulations and experiments No access
7. 4.7 Discussion No access
1. 5.1 Time Invariant Motion Controller (TIMC) No access
2. 5.2 Simulation and experiments No access
3. 5.3 Discussion No access
1. 6.1 The dynamically-consistent constrained task hierarchy solver (DCTS) No access
2. 6.2 Simulation and experiments No access
3. 6.3 Discussion No access
7 Summary No access Pages 99 - 102
Appendix No access Pages 103 - 106
Bibliography No access Pages 107 - 120
Curriculum Vitae No access Pages 121 - 122