Task-space Separation Principle

Name: Task-space Separation Principle
Brand: Springer Verlag, Singapore
SKU: 9789811303524
Price: 2286 CZK
Availability: InStock

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

Autor: Paolo Tommasino

Jazyk:

Vazba: Pevná

Vydavatel: Springer Verlag, Singapore

Dostupnost: Skladem u dodavatele

Odesíláme za 10-13 dnů

2 286 Kč

This book addresses two fundamental issues of motor control for both humans and robots: kinematic re...

Informace o knize

Autor

Paolo Tommasino

Jazyk

Angličtina

Vazba

Kniha - Pevná

Vydáno

2018

Stránek

105

EAN

9789811303524

ISBN

9811303525

Enbook ID

19300909

Vydavatel

Springer Verlag, Singapore

Hmotnost

355

Rozměry

155 x 235 x 13

Kompletní popis

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.

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Task-space Separation Principle

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

Informace o knize

Kompletní popis

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