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.
| ISBN: | 9789811343933 |
| Publication date: | 23rd December 2018 |
| Author: | Paolo Tommasino |
| Publisher: | Springer Verlag, Singapore |
| Format: | Paperback |
| Pagination: | 105 pages |
| Series: | Springer Theses |
| Genres: |
Automatic control engineering Engineering: Mechanics of solids 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 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.
Task-space Separation Principle features in the following genres: Automatic control engineering, Engineering: Mechanics of solids, Biophysics
Task-space Separation Principle is available in Paperback, Hardback
Task-space Separation Principle was written by Paolo Tommasino and published by Springer Verlag, Singapore
Task-space Separation Principle has 105 pages
Yes it is part of Springer Theses series
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