Biologically Inspired Control of Humanoid Robot Arms Robust and Adaptive Approaches /

• Κύριοι συγγραφείς: Spiers, Adam (Συγγραφέας), Khan, Said Ghani (Συγγραφέας), Herrmann, Guido (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Θέματα: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Control.

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...

Πίνακας περιεχομένων:

• 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.