東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Task-space separation principle = fr...

Tommasino, Paolo.

Linked to FindBook

Google Book

Amazon

博客來

Task-space separation principle = from human postural synergies to bio-inspired motion planning for redundant manipulators /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Task-space separation principle/ by Paolo Tommasino.
Reminder of title:	from human postural synergies to bio-inspired motion planning for redundant manipulators /
Author:	Tommasino, Paolo.
Published:	Singapore :Springer Singapore : : 2019.,
Description:	xvii, 105 p. :ill., digital ;24 cm.
[NT 15003449]:	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.
Contained By:	Springer eBooks
Subject:	Kinematics. -
Online resource:	http://dx.doi.org/10.1007/978-981-13-0353-1
ISBN:	9789811303531

Task-space separation principle = from human postural synergies to bio-inspired motion planning for redundant manipulators /
Tommasino, Paolo.

Task-space separation principlefrom human postural synergies to bio-inspired motion planning for redundant manipulators /[electronic resource] :by Paolo Tommasino. - Singapore :Springer Singapore :2019. - xvii, 105 p. :ill., digital ;24 cm. - Springer theses,2190-5053. - Springer theses..

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.

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: 9789811303531

Standard No.: 10.1007/978-981-13-0353-1doiSubjects--Topical Terms:

571109
Kinematics.

LC Class. No.: QA841 / .T666 2019

Dewey Class. No.: 531.112

Task-space separation principle = from human postural synergies to bio-inspired motion planning for redundant manipulators /
LDR:02508nmm a2200337 a 4500 001 2176177
003 DE-He213
005 20180526112934.0
006 m d
007 cr nn 008maaau
008 191121s2019 si s 0 eng d
020 $a 9789811303531 $q (electronic bk.)
020 $a 9789811303524 $q (paper)
024 7 $a 10.1007/978-981-13-0353-1 $2 doi
035 $a 978-981-13-0353-1
040 $a GP $c GP
041 0 $a eng
050 4 $a QA841 $b .T666 2019
072 7 $a TJFM1 $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TEC004000 $2 bisacsh
082 0 4 $a 531.112 $2 23
090 $a QA841 $b .T661 2019
100 1 $a Tommasino, Paolo. $3 3377999
245 1 0 $a Task-space separation principle $h [electronic resource] : $b from human postural synergies to bio-inspired motion planning for redundant manipulators / $c by Paolo Tommasino.
260 $a Singapore : $b Springer Singapore : $b Imprint: Springer, $c 2019.
300 $a xvii, 105 p. : $b ill., digital ; $c 24 cm.
490 1 $a Springer theses, $x 2190-5053
505 0 $a 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.
520 $a 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.
650 0 $a Kinematics. $3 571109
650 0 $a Separation (Technology) $3 520071
650 1 4 $a Engineering. $3 586835
650 2 4 $a Robotics and Automation. $3 1066695
650 2 4 $a Vibration, Dynamical Systems, Control. $3 893843
650 2 4 $a Biological and Medical Physics, Biophysics. $3 3135846
710 2 $a SpringerLink (Online service) $3 836513
773 0 $t Springer eBooks
830 0 $a Springer theses. $3 1314442
856 4 0 $u http://dx.doi.org/10.1007/978-981-13-0353-1
950 $a Engineering (Springer-11647)