Task-space Separation Principle From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators /

This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Prin...

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Detaylı Bibliyografya
Yazar: Tommasino, Paolo (Yazar)
Müşterek Yazar: SpringerLink (Online service)
Materyal Türü: e-Kitap
Dil:İngilizce
Baskı/Yayın Bilgisi: Singapore : Springer Nature Singapore : Imprint: Springer, 2019.
Edisyon:1st ed. 2019.
Seri Bilgileri:Springer Theses, Recognizing Outstanding Ph.D. Research,
Konular:
Control engineering.
Robotics.
Automation.
Multibody systems.
Vibration.
Mechanics, Applied.
Biophysics.
Control, Robotics, Automation.
Multibody Systems and Mechanical Vibrations.
Online Erişim:Full-text access
OPAC'ta görüntüle
İçindekiler:
  • Introduction
  • Background: Posture, Movement & Redundancy
  • Task-Space Separation Principle: A Force Field Approach to Posture and Movement Planning for Redundant Manipulators
  • Capturing Human-Like Postural Kinematic Synergies Via Non-Linear Inverse Optimization
  • Assessment of Postural Muscular Synergies
  • Effects of Mechanical Impedance (Joint Stiffness And Damping) on Wrist Movement
  • Conclusion and Outlook.

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