Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

Paolo Tommasino (Autor)

Buch | Hardcover

105 Seiten

2018 | 1st ed. 2019
Springer Verlag, Singapore
978-981-13-0352-4 (ISBN)

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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 Principle,” a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.

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.

Erscheinungsdatum	18.06.2018
Reihe/Serie	Springer Theses
Zusatzinfo	7 Illustrations, color; 41 Illustrations, black and white; XVII, 105 p. 48 illus., 7 illus. in color.
Verlagsort	Singapore
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Studium ► 1. Studienabschnitt (Vorklinik) ► Physiologie
	Naturwissenschaften ► Physik / Astronomie ► Angewandte Physik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
ISBN-10	981-13-0352-5 / 9811303525
ISBN-13	978-981-13-0352-4 / 9789811303524
Zustand	Neuware