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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Bibliographic Details
Main Author: Tommasino, Paolo (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Singapore : Springer Nature Singapore : Imprint: Springer, 2019.
Edition:1st ed. 2019.
Series:Springer Theses, Recognizing Outstanding Ph.D. Research,
Subjects:
Control engineering.
Robotics.
Automation.
Multibody systems.
Vibration.
Mechanics, Applied.
Biophysics.
Control, Robotics, Automation.
Multibody Systems and Mechanical Vibrations.
Online Access:Full-text access
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Table of Contents:
  • 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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