Task-space Separation Principle From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators /

• Main Author: Tommasino, Paolo (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Singapore : Springer Singapore : Imprint: Springer, 2019.
• Edition: 1st ed. 2019.
• Series: Springer Theses, Recognizing Outstanding Ph.D. Research,
• Subjects: Robotics.; Automation.; Vibration.; Dynamical systems.; Dynamics.; Biophysics.; Biological physics.; Robotics and Automation.; Vibration, Dynamical Systems, Control.; Biological and Medical Physics, Biophysics.

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 Prin...

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.