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Biologically Inspired Control of Humanoid Robot Arms Robust and Adaptive Approaches /
This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robot...
| Call Number: | Libro Electrónico |
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| Main Authors: | , , |
| Corporate Author: | |
| Format: | Electronic eBook |
| Language: | Inglés |
| Published: |
Cham :
Springer International Publishing : Imprint: Springer,
2016.
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| Edition: | 1st ed. 2016. |
| Subjects: | |
| Online Access: | Texto Completo |
Table of Contents:
- Introduction
- Part I Background on Humanoid Robots and Human Motion
- Humanoid Robots and Control
- Human Motion
- Part II Robot Control: Implementation
- Basic Operational Space Controller
- Sliding-Mode Task Controller Modification
- Implementing "Discomfort" for Smooth Joint Limits
- Sliding-Mode Optimal Controller
- Adaptive Compliance Control
- Part III Human Motion Recording for Task Motion Modelling and Robot Arm Control
- Human Motion Recording and Analysis
- Neural Network Motion Learning by Observation for Task Modelling and Control
- Appendices: Kinematics - Introduction
- Inverse Kinematics for BERUL2
- Theoretical Summary of Adaptive Compliant Controller.