| 期刊全稱 | Biologically Inspired Control of Humanoid Robot Arms | | 期刊簡稱 | Robust and Adaptive | | 影響因子2023 | Adam Spiers,Said Ghani Khan,Guido Herrmann | | 視頻video | http://file.papertrans.cn/188/187518/187518.mp4 | | 發(fā)行地址 | Provides readers with clear and concise explanations of the advantages of the operational-space approach for naturalistic motion, with guidance for implementation.an overview of key concepts in human | | 圖書封面 |  | | 影響因子 | .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 robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches?proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction..The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models..The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of | | Pindex | Book 2016 |
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