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Biologically Inspired Control of Humanoid Robot Arms - Robust and Adaptive Approaches (Hardcover, 1st ed. 2016)
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Biologically Inspired Control of Humanoid Robot Arms - Robust and Adaptive Approaches (Hardcover, 1st ed. 2016)
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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.
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