rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Task-space Separation Principle
    sub title: From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators
  name:
    name part: Tommasino, Paolo.
    role:
      role term: creator
    role:
      role term: author.
    role:
      role term: aut
    role:
      role term: http://id.loc.gov/vocabulary/relators/aut
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: si
    date issued: 2019
    edition: 1st ed. 2019.
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XVII, 105 p. 48 illus., 7 illus. in color. online resource.
  abstract: 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.
  table of contents: Introduction -- Background: 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.
  note: by Paolo Tommasino.
  subject:
    topic: Robotics
  subject:
    topic: Automation
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Biophysics
  subject:
    topic: Biological physics
  subject:
    topic: Robotics and Automation
  subject:
    topic: Vibration, Dynamical Systems, Control
  subject:
    topic: Biological and Medical Physics, Biophysics
  classification: TJ210.2-211.495
  classification: T59.5
  classification: 629.892
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Springer Theses, Recognizing Outstanding Ph.D. Research
  identifier: 9789811303531
  identifier: https://doi.org/10.1007/978-981-13-0353-1
  record info:
    record creation date: 180526
    record change date: 20191027152453.0
    record identifier: 978-981-13-0353-1