Task-space Separation Principle From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators
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...
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| Format: | eBook |
| Language: | English |
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Singapore
Springer Singapore
2019, 2019
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| Series: | Springer Theses, Recognizing Outstanding Ph.D. Research
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| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
Table of Contents:
- 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