Biologically inspired control of humanoid robot arms: robust and adaptive approaches
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
[Cham]
Springer International Publishing
[2016]
|
| Schlagworte: | |
| Online-Zugang: | BTU01 FAB01 FAW01 FHA01 FHI01 FHN01 FHR01 FKE01 FRO01 FWS01 FWS02 UBY01 Volltext Inhaltsverzeichnis Abstract |
| Beschreibung: | 1 Online-Ressource (xix, 276 p. 145 illus., 128 illus. in color) |
| ISBN: | 9783319301600 |
| DOI: | 10.1007/978-3-319-30160-0 |
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| adam_text | BIOLOGICALLY INSPIRED CONTROL OF HUMANOID ROBOT ARMS
/ SPIERS, ADAM
: 2016
TABLE OF CONTENTS / INHALTSVERZEICHNIS
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
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
BIOLOGICALLY INSPIRED CONTROL OF HUMANOID ROBOT ARMS
/ SPIERS, ADAM
: 2016
ABSTRACT / INHALTSTEXT
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 THESE ELEMENTS. SIMPLE COST FUNCTIONS INSPIRED BY BIOMECHANICAL
“EFFORT” AND “DISCOMFORT” GENERATE REALISTIC POSTURE MOTION.
SLIDING-MODE TECHNIQUES OVERCOME ROBUSTNESS SHORTCOMINGS FOR PRACTICAL
IMPLEMENTATION. ARM COMPLIANCE IS ACHIEVED VIA A METHOD OF MODEL-FREE
ADAPTIVE CONTROL THAT ALSO DEALS WITH ACTUATOR SATURATION VIA
ANTI-WINDUP COMPENSATION. A NEURAL-NETWORK-CENTERED
LEARNING-BY-OBSERVATION SCHEME GENERATES NEW TASK MOTIONS, BASED ON
MOTION-CAPTURE DATA RECORDED FROM HUMAN VOLUNTEERS. IN OTHER PARTS OF
THE BOOK, MOTION CAPTURE IS USED TO TEST THEORIES OF HUMAN MOVEMENT. ALL
DEVELOPED CONTROLLERS ARE APPLIED TO THE REACHING MOTION OF A HUMANOID
ROBOT ARM AND ARE DEMONSTRATED TO BE PRACTICALLY REALISABLE.THIS BOOK IS
DESIGNED TO BE OF INTEREST TO THOSE WISHING TO ACHIEVE DYNAMICS-BASED
HUMAN-LIKE ROBOT-ARM MOTION IN ACADEMIC RESEARCH, ADVANCED STUDY OR
CERTAIN INDUSTRIAL ENVIRONMENTS. THE BOOK PROVIDES MOTIVATIONS,
EXTENSIVE REVIEWS, RESEARCH RESULTS AND DETAILED EXPLANATIONS. IT IS NOT
ONLY SUITED TO PRACTISING CONTROL ENGINEERS, BUT ALSO APPLICABLE FOR
GENERAL ROBOTICISTS WHO WISH TO DEVELOP CONTROL SYSTEMS EXPERTISE IN
THIS AREA
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Spiers, Adam |
| author_facet | Spiers, Adam |
| author_role | aut |
| author_sort | Spiers, Adam |
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| building | Verbundindex |
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| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
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| dewey-sort | 3629.892 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-3-319-30160-0 |
| format | Electronic eBook |
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| isbn | 9783319301600 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028994398 |
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| spellingShingle | Spiers, Adam Biologically inspired control of humanoid robot arms robust and adaptive approaches Engineering Artificial intelligence Control engineering Robotics Automation Robotics and Automation Artificial Intelligence (incl. Robotics) Control Ingenieurwissenschaften Künstliche Intelligenz |
| title | Biologically inspired control of humanoid robot arms robust and adaptive approaches |
| title_auth | Biologically inspired control of humanoid robot arms robust and adaptive approaches |
| title_exact_search | Biologically inspired control of humanoid robot arms robust and adaptive approaches |
| title_full | Biologically inspired control of humanoid robot arms robust and adaptive approaches Adam Spiers, Said Ghani Khan, Guido Herrmann |
| title_fullStr | Biologically inspired control of humanoid robot arms robust and adaptive approaches Adam Spiers, Said Ghani Khan, Guido Herrmann |
| title_full_unstemmed | Biologically inspired control of humanoid robot arms robust and adaptive approaches Adam Spiers, Said Ghani Khan, Guido Herrmann |
| title_short | Biologically inspired control of humanoid robot arms |
| title_sort | biologically inspired control of humanoid robot arms robust and adaptive approaches |
| title_sub | robust and adaptive approaches |
| topic | Engineering Artificial intelligence Control engineering Robotics Automation Robotics and Automation Artificial Intelligence (incl. Robotics) Control Ingenieurwissenschaften Künstliche Intelligenz |
| topic_facet | Engineering Artificial intelligence Control engineering Robotics Automation Robotics and Automation Artificial Intelligence (incl. Robotics) Control Ingenieurwissenschaften Künstliche Intelligenz |
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