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Herrmann, Guido

Biologically Inspired Control of Humanoid Robot Arms

Herrmann, Guido - Biologically Inspired Control of Humanoid Robot Arms, ebook

169,10€

Ebook, PDF with Adobe DRM
ISBN: 9783319301600
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Table of contents

1. Introduction
Adam Spiers, Said Ghani Khan, Guido Herrmann

Part I. Background on Humanoid Robots and Human Motion

2. Humanoid Robots and Control
Adam Spiers, Said Ghani Khan, Guido Herrmann

3. Human Motion
Adam Spiers, Said Ghani Khan, Guido Herrmann

Part II. Robot Control: Implementation

4. Basic Operational Space Controller
Adam Spiers, Said Ghani Khan, Guido Herrmann

5. Sliding Mode Task Controller Modification
Adam Spiers, Said Ghani Khan, Guido Herrmann

6. Implementing ‘Discomfort’ for Smooth Joint Limits
Adam Spiers, Said Ghani Khan, Guido Herrmann

7. Sliding Mode Optimal Controller
Adam Spiers, Said Ghani Khan, Guido Herrmann

8. Adaptive Compliance Control with Anti-windup Compensation and Posture Control
Adam Spiers, Said Ghani Khan, Guido Herrmann

Part III. Human Motion Recording for Task Motion Modelling and Robot Arm Control

9. Human Motion Recording and Analysis
Adam Spiers, Said Ghani Khan, Guido Herrmann

10. Neural Network Motion Learning by Observation for Task Modelling and Control
Adam Spiers, Said Ghani Khan, Guido Herrmann

Keywords: Engineering, Robotics and Automation, Artificial Intelligence (incl. Robotics), Control

Author(s)
 
 
Publisher
Springer
Publication year
2016
Language
en
Edition
1
Category
Technology, Energy, Traffic
Format
Ebook
eISBN (PDF)
9783319301600
Printed ISBN
978-3-319-30158-7

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