Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

Nonfiction, Science & Nature, Technology, Robotics, Engineering, Mechanical
Cover of the book Task-space Separation Principle by Paolo Tommasino, Springer Singapore
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Paolo Tommasino ISBN: 9789811303531
Publisher: Springer Singapore Publication: May 26, 2018
Imprint: Springer Language: English
Author: Paolo Tommasino
ISBN: 9789811303531
Publisher: Springer Singapore
Publication: May 26, 2018
Imprint: Springer
Language: English

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.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

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.

More books from Springer Singapore

Cover of the book Proceedings of the Pacific Rim Statistical Conference for Production Engineering by Paolo Tommasino
Cover of the book The Roles of Law and Politics in China's Development by Paolo Tommasino
Cover of the book Cancellous Bone by Paolo Tommasino
Cover of the book Organisational Justice and Citizenship Behaviour in Malaysia by Paolo Tommasino
Cover of the book Sustainability and Social Responsibility: Regulation and Reporting by Paolo Tommasino
Cover of the book The Making of Female University Presidents in China by Paolo Tommasino
Cover of the book Groundwater Prospecting and Management by Paolo Tommasino
Cover of the book Global Research of Cities by Paolo Tommasino
Cover of the book Machining, Joining and Modifications of Advanced Materials by Paolo Tommasino
Cover of the book InCIEC 2014 by Paolo Tommasino
Cover of the book Pediatric Biomedical Informatics by Paolo Tommasino
Cover of the book Advances in Soil Microbiology: Recent Trends and Future Prospects by Paolo Tommasino
Cover of the book Transactions on Engineering Technologies by Paolo Tommasino
Cover of the book Re-visioning the Public in Post-reform Urban China by Paolo Tommasino
Cover of the book Orbital Data Applications for Space Objects by Paolo Tommasino
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy