Biologically Inspired Control of Humanoid Robot Arms Robust and Adaptive Approaches /

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robot...

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Detaylı Bibliyografya
Asıl Yazarlar: Spiers, Adam (Yazar), Khan, Said Ghani (Yazar), Herrmann, Guido (Yazar)
Müşterek Yazar: SpringerLink (Online service)
Materyal Türü: e-Kitap
Dil:İngilizce
Baskı/Yayın Bilgisi: Cham : Springer International Publishing : 2016.
Imprint: Springer,
Edisyon:1st ed. 2016.
Konular:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Control, Robotics, Automation.
Artificial Intelligence.
Control and Systems Theory.
Online Erişim:Full-text access
İçindekiler:
  • Introduction
  • Part I Background on Humanoid Robots and Human Motion
  • Humanoid Robots and Control
  • Human Motion
  • Part II Robot Control: Implementation
  • Basic Operational Space Controller
  • Sliding-Mode Task Controller Modification
  • Implementing "Discomfort" for Smooth Joint Limits
  • Sliding-Mode Optimal Controller
  • Adaptive Compliance Control
  • Part III Human Motion Recording for Task Motion Modelling and Robot Arm Control
  • Human Motion Recording and Analysis
  • Neural Network Motion Learning by Observation for Task Modelling and Control
  • Appendices: Kinematics - Introduction
  • Inverse Kinematics for BERUL2
  • Theoretical Summary of Adaptive Compliant Controller.

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