Task-space Separation Principle

Name: Task-space Separation Principle
Brand: Springer Verlag, Singapore
SKU: 9789811303524
Price: 427.08 PLN
Availability: InStock

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

Autor: Paolo Tommasino

Język:

Oprawa: Twarda

Wydawca: Springer Verlag, Singapore

Dostępność: Dostępna u dostawcy

Wysyłamy za 10-13 dni

427.08 zł

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

Informacje o książce

Autor

Paolo Tommasino

Język

Angielski

Oprawa

Książka - Twarda

Data wydania

2018

strony

105

EAN

9789811303524

ISBN

9811303525

Enbook ID

19300909

Wydawca

Springer Verlag, Singapore

Waga

355

Wymiary

155 x 235 x 13

Pełny opis

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

Informacje o książce

Pełny opis

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