Task-space separation principle [electronic resource] : from human postural synergies to bio-inspired motion planning for redundant manipulators / by Paolo Tommasino.
- 作者： Tommasino, Paolo.
- 其他作者：
- 其他題名：
- Springer theses, recognizing outstanding Ph.D. research.
- 出版： Singapore : Springer Singapore :Imprint: Springer 2019.
- 叢書名： Springer theses, recognizing outstanding Ph.D. research,
- 主題： Kinematics. , Separation (Technology) , Robotics and Automation. , Vibration, Dynamical Systems, Control. , Biological and Medical Physics, Biophysics.
- ISBN： 9789811303531 (electronic bk.) 、 9789811303524 (paper)
- URL：
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電子書(校內)
- 一般註：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. E1084學校採購電子書
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讀者標籤：
- 系統號： 000275338 | 機讀編目格式
館藏資訊
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.
摘要註
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.
